encoder working for chem

not much more though, especially not the motor

ebpfcat/chem.py

+from asyncio import gather, sleep, ensure_future
+from struct import unpack
+from .terminals import EL7041, EL5042, Skip
+from .devices import Motor, Counter, AnalogInput
+from .ebpfcat import FastEtherCat, FastSyncGroup, SyncGroup
+
+con = Skip()
+tm1 = EL7041()
+te12 = EL5042()
+tm2 = EL7041()
+
+ec = FastEtherCat("enp0s31f6", [con, tm1, te12, tm2])
+
+
+async def monitor(ec):
+    while True:
+        print("M", ec.ebpf.count, ec.ebpf.allcount, await tin.get_state())
+        await sleep(0.1)
+
+
+async def main():
+    await ec.connect()
+    await ec.scan_bus()
+    #ensure_future(monitor(ec))
+
+    print("S", await te12.set_state(2))
+    for i in [1, 2, 3] + list(range(0x11, 0x19)):
+        print(f"P{i:x}", await te12.sdo_read(0x8018, i))
+    await te12.sdo_write(b"\0", 0x8018, 0x2)  # statusbits
+    await te12.sdo_write(b"\0", 0x8018, 0x15)  # multi
+    #await te12.sdo_write(b"\x1a", 0x8018, 0x16)  # singleturn
+    await te12.sdo_write(b" ", 0x8018, 0x16)  # singleturn
+
+    for i in [1, 2, 3]:
+        print(f"S{i:x}", await te12.sdo_read(0xB018, i))
+    print(f"Pos", await te12.sdo_read(0x6010, 0x11))
+    print(f"V", await te12.sdo_read(0xA018, 0x5))
+    print(f"M", await te12.sdo_read(0x10F3, 0x6))
+    print("State", await te12.get_state())
+
+    print("S", await tm2.set_state(2))
+    for i in [1,2,3,4,5,6,7,9,0x10,0x11]:
+        print(f"M{i:x}", unpack("H", await tm2.sdo_read(0x8010, i))[0])
+
+
+    m1 = Motor()
+    m1.velocity = tm2.velocity
+    m1.encoder = te12.channel2.position
+    m1.enable = tm2.enable
+
+    aie = AnalogInput(te12.channel2.status)
+    aim = AnalogInput(tm2.status)
+
+    fsg = SyncGroup(ec, [m1, aie, aim])
+
+    print("do start")
+    fsg.start()
+    print("did start")
+
+    for i in range(10):
+        print("P", m1.current_position, hex(aie.value), hex(aim.value))
+        await sleep(0.02)
+    for i in [1,2,3,4,5,6,7]:
+        print(f"I{i:x}", unpack("B", await tm2.sdo_read(0x6010, i))[0])
+    for i in [1,2,3]:
+        print(f"O{i:x}", unpack("B", await tm2.sdo_read(0x7010, i))[0])
+    print(f"V", unpack("H", await tm2.sdo_read(0x7010, 0x21))[0])
+    m1.velocity = 1000
+    m1.enable = True
+    await sleep(0.1)
+    for i in [1,2,3]:
+        print(f"O{i:x}", unpack("B", await tm2.sdo_read(0x7010, i))[0])
+    print(f"V", unpack("H", await tm2.sdo_read(0x7010, 0x21))[0])
+    m1.velocity = 0
+    #m1.enable = True
+    for i in range(10):
+        print("P", m1.current_position, hex(aie.value), hex(aim.value))
+        await sleep(0.02)
+    #m1.enable = False
+    m1.velocity = 0
+
+if __name__ == "__main__":
+    from asyncio import get_event_loop
+    loop = get_event_loop()
+    loop.run_until_complete(main())

ebpfcat/devices.py

@@ -174,6 +174,11 @@ class Motor(Device):
         self.velocity = velocity
         self.enable = self.set_enable
 
+    def update(self):
+        self.current_position = self.encoder
+        self.velocity = self.set_velocity
+        self.enable = self.set_enable
+
     def program(self):
         with self.ebpf.tmp:
             self.ebpf.tmp = self.proportional * (self.target - self.encoder)

ebpfcat/ethercat.py

@@ -691,21 +691,19 @@ class Terminal:
 
 
 async def main():
-    from .bpf import lookup_elem
-
-    ec = EtherCat("eth0")
+    ec = EtherCat("enp0s31f6")
+    print(1)
     await ec.connect()
-    #map_fd = await install_ebpf2()
+    print(2)
     tin = Terminal()
-    tin.ec = ec
     tout = Terminal()
-    tout.ec = ec
     tdigi = Terminal()
-    tdigi.ec = ec
+    tin.ec = tout.ec = tdigi.ec = ec
+    print(3)
     await gather(
-        tin.initialize(-4, 19),
-        tout.initialize(-2, 55),
-        tdigi.initialize(0, 22),
+        tin.initialize(-1, 5),
+        tout.initialize(-2, 6),
+        tdigi.initialize(-3, 22),
         )
     print("tin")
     #await tin.to_operational()

ebpfcat/terminals.py

@@ -27,6 +27,7 @@ class Skip(EBPFTerminal):
         pass
 
 
+<<<<<<< HEAD
 class EL1808(EBPFTerminal):
     compatibility = {(2, 118501458)}
 
@@ -53,6 +54,8 @@ class EL2808(EBPFTerminal):
     ch8 = PacketDesc((1, 0), 7)
 
 
+=======
+>>>>>>> a6f8814 (encoder working for chem)
 class EL4104(EBPFTerminal):
     ch1_value = PacketDesc((1, 0), 'H')
     ch2_value = PacketDesc((1, 2), 'H')
@@ -85,7 +88,7 @@ class EK1814(EBPFTerminal):
 class EL5042(EBPFTerminal):
     compatibility = {(2, 330444882)}
     class Channel(Struct):
-        position = PacketDesc((0, 2), "q")
+        position = PacketDesc((0, 2), "Q")
         warning = PacketDesc((0, 0), 0)
         error = PacketDesc((0, 0), 1)
         status = PacketDesc((0, 0), "H")