Stepper Control

## File: RealStepper03.py
## Date Of Creation: in 2010
## Author: ****************
## Version: 0.3

import time
import os

class Stepper():
    """Basic stepper motor control functions"""

    def __init__(self, port):
        ## Set Up
        self.port = port
        self.output = 3
        self.pos = 0    ## 0-200
        self.mode = None
        self.port.setData(self.output)
        self.mysleep(2)

    def updatePos(self, p):
        self.pos = (self.pos + p)%200

    def mysleep(self, t):
        """More precise sleep function"""
        ts = time.clock()
        while ts+t >= time.clock():
            pass

    def halfStep(self, d = 0):
        """Make one half step in direction d

        d .... direction (0 --> left
                          1 --> right)

        """
        if d == 0:
            if self.output == 1:
                self.output = 3
            elif self.output == 3:
                self.output = 2
            elif self.output == 2:
                self.output = 6
            elif self.output == 6:
                self.output = 4
            elif self.output == 4:
                self.output = 12
            elif self.output == 12:
                self.output = 8
            elif self.output == 8:
                self.output = 9
            elif self.output == 9:
                self.output = 1
            else:
                print "hnnj? halfStep", self.output
            self.port.setData(self.output)
            self.updatePos(-0.5)
        elif d == 1:
            if self.output == 1:
                self.output = 9
            elif self.output == 9:
                self.output = 8
            elif self.output == 8:
                self.output = 12
            elif self.output == 12:
                self.output = 4
            elif self.output == 4:
                self.output = 6
            elif self.output == 6:
                self.output = 2
            elif self.output == 2:
                self.output = 3
            elif self.output == 3:
                self.output = 1
            else:
                print "hnnj? halfStep", self.output
            self.port.setData(self.output)
            self.updatePos(0.5)
        else:
            print "Something wrong in halfStep()"
        self.mode = "half"

    def torqueStep(self, d = 0):
        """Make one torque step in direction d

        d .... direction (0 --> left
                          1 --> right)

        """
        ## Map bits from halfStep
        ## Very crude implementation
        ## It only corrects to one direction
        if self.output in [1,2,4,8]:
            if self.output == 1:
                self.output = 3
            elif self.output == 2:
                self.output = 6
            elif self.output == 4:
                self.output = 12
            elif self.output == 8:
                self.output = 9
            self.port.setData(self.output)
            self.updatePos(-0.5)
        if d == 0:
            if self.output == 3:
                self.output = 6
            elif self.output == 6:
                self.output = 12
            elif self.output == 12:
                self.output = 9
            elif self.output == 9:
                self.output = 3
            else:
                print "hnnj? torqueStep", self.output
            self.port.setData(self.output)
            self.updatePos(-1)
        elif d == 1:
            if self.output == 3:
                self.output = 9
            elif self.output == 9:
                self.output = 12
            elif self.output == 12:
                self.output = 6
            elif self.output == 6:
                self.output = 3
            else:
                print "hnnj? torqueStep", self.output
            self.port.setData(self.output)
            self.updatePos(+1)
        else:
            print "Something wrong in torqueStep()"
        self.mode = "torque"

    def steps(self, n, step = "t", speed = 0.002):
        """Make n number of steps"""
        if n != 0:
            if n < 0:   direction = 0
            elif n > 0: direction = 1
            if step == "t":
                for k in xrange(abs(n)):
                    self.torqueStep(direction)
                    self.mysleep(speed)
            elif step == "h":
                for k in xrange(abs(n)):
                    self.halfStep(direction)
                    self.mysleep(speed)
        else: print "Cant do zero step!"

    def toPos(self, pos, speed = 0.009):
        """Go to position pos

        pos in range (0,201)

        """
        a, b = range(100,200+1), range(0,100+1)
        a.remove(200)
        a.extend(b)
        allowed = a
        if pos in allowed and pos != self.pos:
            left, right = allowed[:allowed.index(self.pos)],\
                          allowed[allowed.index(self.pos)+1:]
            if pos in left:
                direction = -1
                steps = len(left)-left.index(pos)
            elif pos in right:
                direction = 1
                steps = right.index(pos)+1
            self.steps(steps*direction, "t", speed)

    def toPosRel(self, relPos, speed = 0.009):
        """Go to position pos

        pos can be negative or positive

        """
        if relPos >= 0:
            goto = relPos
        elif relPos < 0:
            goto = 200+relPos
        else:
            goto = None
        self.toPos(goto, speed)

class PanCamTextCommander():
    """Text commander for PanCam"""

    def __init__(self, par):
        self.par = par
        os.system("title PanCam")
        self.interface()

    def interface(self):
        """Text interface"""
        greting = """
        Welcome to PanCam Text Commander
        Here are your options:

        1 .... Manual control
        2 .... Set position
        3 .... Run test
        q .... Quit
        ...
        ..
        .
        comming soon! :)"""
        q = False
        while q != True:
            os.system("cls")
            print greting
            choice = raw_input("\nYour choice >>> ")
            if len(choice) == 0:
                continue
            if choice == "1":
                self.manual()
            elif choice == "2":
                self.setPos()
            elif choice == "3":
                self.test()
            elif choice in "qQXx":
                q = True
            else: pass

    def manual(self):
        """Manuali control PanCam"""
        q = False
        while q != True:
            p = raw_input("\nPos: %s\nTo pos >>> " %self.par.pos)
            if len(p) == 0:
                continue#p = "a"
            try:
                p = int(p)
            except:
                if p in "qQXx":
                    q = True
                else:
                    p = self.par.pos
            self.par.toPosRel(p)

    def setPos(self):
        """Manuali set up the position"""
        q = False
        while q != True:
            p = raw_input("\nPos: %s\nSet pos to >>> " %self.par.pos)
            if len(p) == 0:
                q = True
                self.par.pos = 0
                print "\n\t==== Position set! ====\t"
                time.sleep(0.5)
            try:
                p = int(p)
            except:
                if p in "qQXx":
                    q = True
                else:
                    p = self.par.pos
            self.par.toPosRel(p)

    def test(self):
        """Tests"""
        for a in range(4):
            for p in [-25,25,-50,50,-75,75,-100,99,0]:
            #p = random.choice(range(-100,100))
                self.par.toPosRel(p)
                print "POS:", self.par.pos
                self.par.mysleep(2)
        self.par.toPosRel(0)

if __name__ == "__main__":
    ## Example ##

    ## Imports
    import parallel as pll
    #import RealStepper03 as RS

    ## Init port
    port = pll.Parallel()
    ## Init Stepper
    PanCam = Stepper(port)
    ## Init Text Commander
    textPanCam = PanCamTextCommander(PanCam)