Fix motion mode on star adventurer v1

synscan/comm.py

@@ -55,15 +55,16 @@ class commSerial:
     def __init__(self,serial_dev):
         import serial
         ''' Init the serial port '''
-        self.serial = serial.Serial(serial_dev, 9600, timeout=.02)
+        self.serial = serial.Serial(serial_dev, 115200, timeout=.5)
         self.lock = threading.Lock()
         self.commOK=False
 
     def cmd(self,cmd,timeout_in_seconds=2):
         '''Low level send command function '''
         with self.lock:
+            self.serial.reset_input_buffer()
             self.serial.write(cmd)
-            response = self.serial.readline()
+            response = self.serial.read_until(b'\r')
             while response and response[0] not in b'!=':
                 # Strip echo of command
                 response = response[1:]

synscan/motors.py

@@ -148,7 +148,7 @@ def get_values(self,parameterDict,initDone=True):
             if initDone:
                 self._send_cmd('F',axis)  # Initialize
         return params
-
+        
     def get_parameters(self):
         '''
         Get main motor parameters.
@@ -264,23 +264,36 @@ def axis_set_motion_mode(self,axis,Tracking,CW=True,fastSpeed=False):
         if not Tracking:
             if fastSpeed:
                 speedBit=0
+                lowBit = "0"
             else:
                 speedBit=1
+                lowBit = "2"
         else:
             if fastSpeed:
                 speedBit=1
+                lowBit = "3"
             else:
                 speedBit=0
+                lowBit = "1"
         if Tracking:
             value=16
         else:
             value=0
-        value=value+speedBit*32+CW
+        if(CW):
+            highBit = "0"
+        else:
+            highBit = "1"
+
+
+        #value=value+speedBit*32+CW
+        value = int(f"0x{lowBit}{highBit}", 16)
         #Send as two HEX digits
         logging.info(f'AXIS{axis}: Setting Motion Mode: {value} HEX:{value:02X}')
         response=self._send_cmd('G',axis,value,ndigits=2)   # SetMotionMode
         return response        
-
+    def set_T1_preset(self,axis,value):
+    	return self._set_T1_preset(axis,value)
+
     def _set_T1_preset(self,axis,value):
         '''Set step period for tracking speed'''
         if not self.params[axis]['countsPerRevolution']:
@@ -294,7 +307,7 @@ def axis_get_posCounts(self,axis):
         #Position values are offseting by 0x800000
         response=self._send_cmd('j',axis)-0x800000  # GetAxisPosition
         return response
-
+        
     def axis_set_goto_targetCounts(self,axis,targetCounts):
         '''GoTo Target value in StepsCounts. Motors has to be stopped'''
         if not self.params[axis]['countsPerRevolution']:
@@ -360,7 +373,7 @@ def axis_goto(self,axis,targetDegrees):
       if self.params[axis]['countsPerRevolution']:
         self.axis_stop_motion(axis)
         actualPos=self.axis_get_pos(axis)
-        self.axis_set_motion_mode(axis,False,(targetDegrees<actualPos),True)
+        self.axis_set_motion_mode(axis,False,(targetDegrees<actualPos),False)
         self.axis_set_goto_target(axis,targetDegrees)
         self.axis_start_motion(axis)
 
@@ -495,7 +508,10 @@ def track(self,alpha,beta):
           self.axis_track(1,alpha)
         if self.params[2]['countsPerRevolution']:
           self.axis_track(2,beta)
-
+
+    def get_status(self, axis):
+        return self._decode_status(self.get_values({'Status':'f'})[1]['Status'])
+
     def update_current_values(self,logaxis=2):
         '''Update current status and values
         logaxis can be 1,2,3 or None. 1 for only log current values of axis 1...