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Merged
mikelangmayr merged 3 commits into from
Dec 2, 2025
Merged

Implement motion base class functions in pi controller #2

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4533c5d
implement motion base class function in pi controller, refactor, add …
mikelangmayr Nov 20, 2025
f52cdaf
add timeout to set_pos(), add default logfile
mikelangmayr Nov 24, 2025
d15ad9a
update API to hardware_base_class changes, update tests, update README
mikelangmayr Dec 1, 2025
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9 changes: 3 additions & 6 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -160,12 +160,9 @@ dmypy.json
# Cython debug symbols
cython_debug/

# PyCharm
# JetBrains specific template is maintained in a separate JetBrains.gitignore that can
# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
# and can be added to the global gitignore or merged into this file. For a more nuclear
# option (not recommended) you can uncomment the following to ignore the entire idea folder.
#.idea/
# IDE
.idea/
.vscode

# PyPI configuration file
.pypirc
24 changes: 12 additions & 12 deletions README.md
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Expand Up @@ -39,19 +39,19 @@ for device_id, desc in devices:
device_key = ("192.168.29.100", 10005, 2)
print("Now on device 2:", controller.get_idn(device_key))

# Check if axis '1' is referenced
is_referenced = controller.is_controller_referenced(device_key, '1')
# Check if axis '1' is referenced (homed)
is_referenced = controller.is_homed(device_key, '1')
print("Axis 1 referenced:", is_referenced)

# Perform a reference move (home) on axis '1'
success = controller.reference_move(device_key, '1', method="FRF", blocking=True, timeout=30)
# Perform a home (reference move) on axis '1'
success = controller.home(device_key, '1', method="FRF", blocking=True, timeout=30)
if success:
print("Reference move completed successfully.")
print("Home completed successfully.")
else:
print("Reference move failed or timed out.")
print("Home failed or timed out.")

# Move axis 1 to position 12.0
controller.set_position(device_key, '1', 12.0)
controller.set_pos(12.0, device_key, '1')

# Save current position as "home"
controller.set_named_position(device_key, '1', 'home')
Expand All @@ -72,21 +72,21 @@ controller.disconnect_all()
| `get_idn(device_key)` | Get the controller identification string |
| `get_serial_number(device_key)` | Get the serial number from the IDN |
| `get_axes(device_key)` | Return available axes |
| `get_position(device_key, axis_index)` | Get current position of axis by index |
| `servo_status(device_key, axis)` | Check if the servo on an axis is enabled |
| `get_pos(device_key, axis)` | Get current position of axis |
| `is_loop_closed(device_key, axis)` | Check if the servo on an axis is enabled |
| `get_error_code(device_key)` | Get the controller's last error code |
| `halt_motion(device_key)` | Stop all motion on the controller |
| `set_position(device_key, axis, position)` | Move an axis to a position |
| `set_pos(pos, device_key, axis)` | Move an axis to a position |
| `set_named_position(device_key, axis, name)` | Save a position under a named label |
| `go_to_named_position(name)` | Move to a previously saved named position |
| `disconnect_device(device_key)` | Disconnect a single device |
| `disconnect_all()` | Disconnect all devices |


## Logging
By default, the controller logs info and error messages to the console. You can suppress logs (except warnings/errors) by passing quiet=True:
By default, the controller logs info and error messages to the console. You can disable logging by passing log=False:
```python
controller = PIControllerBase(quiet=True)
controller = PIControllerBase(log=False)
```

## 🧪 Testing
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