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pizzabox-ctrl
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added safety timeout for motor control

This commit is contained in:
jpunkt 2021-11-10 13:55:54 +01:00
parent 08d79cdcb8
commit aee4312fc6
1 changed files with 4 additions and 3 deletions
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7
micropizza/main.py
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@ -126,11 +126,12 @@ def motor_hor(*opts):
_motorctrl(scroll_h, *opts)
return 'OK'
def _motorctrl(scroll: Scroll, steps: int, *opts):
def _motorctrl(scroll: Scroll, steps: int, timeout_ms: int = 500, *opts):
end = scroll.c + steps
print(f'motorctrl, end={end}, scroll.c={scroll.c}')
try:
while True:
startime = time.ticks_ms()
while time.ticks_diff(startime, time.ticks_ms()) < timeout_ms:
err = end - scroll.c
if abs(err) > 4:
speed = (err / (2 * steps)) + 0.5
@ -138,7 +139,7 @@ def _motorctrl(scroll: Scroll, steps: int, *opts):
else:
scroll.speed = 0
break
time.sleep_ms(5)
time.sleep_us(50)
finally:
scroll.speed = 0