B
    ½d\>  ć               @   s&   d dl Z d dlmZ G dd dZdS )é    N)ŚSerialc               @   s   e Zd Zd#ddZdd Zdd	 Zd
d Zdd Zdd Zdd Z	dd Z
dd Zdd Zdd Zdd Zdd Zdd Zd d! Zd"S )$ŚEZSV23ŚCOM4é%  ē©?c             C   s   d | _ |  |||” d S )N)Ś_fdŚopen)ŚselfŚCOMŚbaudŚtimeout© r   ś7C:\Users\p-lab\Code\lrauv-testbed-2019\ezsv23\ezsv23.pyŚ__init__   s    zEZSV23.__init__c             C   s   | S )Nr   )r	   r   r   r   Ś	__enter__   s    zEZSV23.__enter__c             C   s   |   ”  d S )N)Śclose)r	   ŚtypeŚvalueŚ	tracebackr   r   r   Ś__exit__   s    zEZSV23.__exit__c             C   s<   t |||d| _|  d” t d” |  d” t d” d S )N)r   Zm40u1000L20000N1V280000Rg¹?Zw1000x0y2500R)r   r   Ś_writeŚtimeŚsleep)r	   r
   r   r   r   r   r   r      s
    


zEZSV23.openc             C   s   | j r| j  ”  d S )N)r   r   )r	   r   r   r   r      s    zEZSV23.closec             C   s*   |   d”}|| d”d d }t|dS )Nz?8s   /0é   éż’’’zutf-8)r   ŚfindŚstr)r	   ŚreplyŚpositionr   r   r   Śtell_position$   s    
zEZSV23.tell_positionc             C   s8   |   d”}|| d”d  }t|d@ }|d@ }||fS )NŚQs   /0é   é    é   )r   r   Śbool)r	   r   Zstatus_byteZ
ready_flagZ
error_coder   r   r   Śtell_status*   s
    
zEZSV23.tell_statusc             C   s   |   d” d S )NZgS03P10000G50Z700000R)r   )r	   r   r   r   Śhome2   s    zEZSV23.homec             C   s   |   d” d S )NŚT)r   )r	   r   r   r   Śhalt_execution6   s    zEZSV23.halt_executionc             C   s   |   d| d ” d S )NŚAŚR)r   )r	   r   r   r   r   Śposition_absolute:   s    zEZSV23.position_absolutec             C   s   |   d| d ” d S )NŚPr*   )r   )r	   r   r   r   r   Śposition_relative>   s    zEZSV23.position_relativec             C   s   |   d” d S )NZr0R)r   )r	   r   r   r   Ś	motor_offB   s    zEZSV23.motor_offc             C   s,   d}x"|dkr&t  d” |  ” \}}qW d S )NFg      Š?)r   r   r%   )r	   ZreadyŚerrorr   r   r   Śwait_for_completionF   s    

zEZSV23.wait_for_completionc             C   s   |   d” d S )NZr1R)r   )r	   r   r   r   Ś
servo_hereM   s    zEZSV23.servo_herec             C   s2   | j  ”  | j  dt|d d ” | j  ” }|S )Ns   /1zutf-8ó   )r   Zreset_input_bufferŚwriteŚbytesŚreadline)r	   Zcommandr   r   r   r   r   Q   s    

zEZSV23._writeN)r   r   r   )Ś__name__Ś
__module__Ś__qualname__r   r   r   r   r   r   r%   r&   r(   r+   r-   r.   r0   r1   r   r   r   r   r   r      s   

r   )r   Śserialr   r   r   r   r   r   Ś<module>   s   