20160831 031700 polling motor driver #2
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…s:https://github.com/opentrons/opentrons_sdk into 8-protocol-ingestion-checklist-data-generation
…0.05mm from target
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LGTM, but we need to test it IRL a lot to make sure. |
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Ready to be merged. This branch has passed thorough testing, running multiple hours on the |
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LGTM |
| self.motor.move(x=-100) | ||
| self.motor.wait_for_arrival() | ||
| except RuntimeWarning as e: | ||
| self.assertEqual(str(RuntimeWarning('limit switch hit')), str(e)) |
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Interesting test. You could also do,
with self.assertRaises(RuntimeWarning) as e:
self.motor.move(x=-100)
self.motor.wait_for_arrival()
| import sys | ||
| import time | ||
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| from opentrons_sdk.drivers.motor import OpenTrons, GCodeLogger |
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GCodeLogger is an unused import
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This PR moves the motor driver away from the OT forked firmware, and works as follows:
b"ok"or similar is received from motor controllerM114"show current position" gcode commandwait_for_arrival()method compares the target coordinate to the real-time coordinate, and returns when they're equal