SliderModule

robodyno.components.can_bus.slider_module

Slider module.

This module provides functions to control slider module. The slider module is a lead screw driven linear module with a robodyno motor.

Examples:

>>> from robodyno.components import SliderModule
>>> from robodyno.interfaces import CanBus
>>> can_bus = CanBus()
>>> slider = SliderModule(can_bus, 0x10)
>>> slider.enable()
>>> slider.set_pos(0.1)
>>> slider.get_pos()
0.1
>>> slider.disable()
>>> can_bus.disconnect()

SliderModule

Bases: object

Slider module.

Attributes:

Name	Type	Description
motor	Motor	Motor object of the slider module.

__init__(can, id_=16, type_=None, max_vel=0.02, lead=0.01)

Inits SliderModule with can bus object and device id.

This function initializes the slider module by creating a motor object and configuring the motor to position track mode with max velocity.

Parameters:

Name	Type	Description	Default
can	CanBus	CanBus object.	required
id_	int	Motor id of the slider module.	16
type_	string	Motor type of the slider module.	None
max_vel	float	Max velocity of the slider module in m/s.	0.02
lead	float	Lead of the slider module in m/round.	0.01

set_max_vel(max_vel)

Sets max velocity of the slider module.

This function configures the motor to position track mode with max velocity.

Parameters:

Name	Type	Description	Default
max_vel	float	Max velocity of the slider module in m/s.	required

enable()

Enables the slider module.

disable()

Disables the slider module.

init_pos(initial_pos=0)

Initializes position of the slider module.

Parameters:

Name	Type	Description	Default
initial_pos	float	Initial position of the slider module in m.	0

init_abs_pos(initial_pos=0, save=True)

Initializes absolute position of the slider module.

Parameters:

Name	Type	Description	Default
initial_pos	float	Initial absolute position of the slider module in m.	0
save	bool	Whether to save the configuration.	True

set_pos(pos)

Sets position of the slider module.

Parameters:

Name	Type	Description	Default
pos	float	Position of the slider module in m.	required

set_abs_pos(pos)

Sets absolute position of the slider module.

Parameters:

Name	Type	Description	Default
pos	float	Absolute position of the slider module in m.	required

get_pos(timeout=None)

Reads position of the slider module.

Parameters:

Name	Type	Description	Default
timeout	float	Timeout in seconds.	None

Returns:

Type	Description
float | None	Position of the slider module in m. Returns None if the read times out.

get_abs_pos(timeout=None)

Reads absolute position of the slider module.

Parameters:

Name	Type	Description	Default
timeout	float	Timeout in seconds.	None

Returns:

Type	Description
float | None	Absolute position of the slider module in m. Returns None if the read times out.