Motor

pycertifspec.Motor #

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Motor Objects # 

class Motor(object)

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SPEC motor

position #

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Get the motor position in user units (setting a value will NOT move the motor but change the position offset)

dial_position #

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Get motor position in dial units (setting a value will NOT move the motor)

offset #

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The current user offset in dial units

step_size #

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Steps-per-unit (read-only)

sign #

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Sign of user dial parameter (read-only)

move_done #

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True if done, False if busy (read-only). WARNING: The original value from SPEC is inverted

high_lim_hit #

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nonzero if the high-limit switch has been hit (read-only)

low_lim_hit #

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nonzero if the low-limit switch has been hit (read-only)

emergency_stop #

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nonzero if an emergency-stop switch or condition has been activated (read-only)

motor_fault #

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Returns nonzero if a motor-fault condition has been activated (read-only)

high_limit #

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the high limit in dial units

low_limit #

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the low limit in dial units

unusable #

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Returns nonzero if the motor is unusable (read-only)

base_rate #

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base_rate

slew_rate #

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slew_rate

acceleration #

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acceleration

backlash #

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backlash

get # 

 | get(prop_name: str) -> SpecMessage

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Get a motor property.

Attributes:

  • prop_name string - The name of the property

Returns:

  • (SpecMessage) - None if property doesn’t exist

set # 

 | set(prop_name: str, value: Any, wait_for_error: float = 0)

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Set a motor property.

You shouldn’t really have to use this method since most properties automatically broadcast changes to SPEC when modified

Attributes:

  • prop_name string - The name of the property
  • value - The value (will be converted to string before sending)
  • wait_for_error float - SPEC only sends a message back if the property doesn’t exist. Set the number of seconds to wait for an error message (if there is one)

Returns:

False if property doesn’t exist, else True

moveto # 

 | moveto(value: float, blocking: bool = True, callback: Callable = None)

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Move motor to position

Arguments:

  • value float - The position to move to
  • blocking boolean - Wait for move to finish before returning
  • callback Callable - If blocking=False, this function will be called on completion

move # 

 | move(value: float, blocking: bool = True, callback: Callable = None)

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Move motor relative to current position

Arguments:

  • value float - The distance to move
  • blocking boolean - Wait for move to finish before returning
  • callback Callable - If blocking=False, this function will be called on completion

subscribe # 

 | subscribe(prop: str, callback: Callable, nowait: bool = False, timeout: float = 1.0) -> bool

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Subscribe to changes in a motor property.

Arguments:

  • prop string - The property to listen to
  • callback function - The function to be called when the event is received
  • nowait boolean - By default the function waits for the first event after registering to see if an error occurred. To skip that set True
  • timeout float - The timeout to wait for a response after subscribing. Function returns False when it runs out

Returns:

True if successful, False when an error occurred or timeout reached

unsubscribe # 

 | unsubscribe(prop: str, callback: Callable) -> bool

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Unsubscribe from changes.

Arguments:

  • prop string - The property to stop listening to
  • callback Callable - The callback function

Returns:

  • (boolean) - True if the callback was removed, False if it didn’t exist anyways