stepper_motor_base

frog.hardware.plugins.stepper_motor.stepper_motor_base

Provides the base class for stepper motor implementations.

Attributes

Classes

StepperMotorBase()

Bases: Device

A base class for stepper motor implementations.

Create a new StepperMotorBase.

Subscribe to stepper motor pubsub messages.

Source code in frog/hardware/plugins/stepper_motor/stepper_motor_base.py

def __init__(self) -> None:
    """Create a new StepperMotorBase.

    Subscribe to stepper motor pubsub messages.
    """
    super().__init__()

    self.subscribe(self.move_to, "move.begin")
    self.subscribe(self.stop_moving, "stop")

Attributes

angle property

The current angle of the motor in degrees.

Returns:

Type	Description
float	The current angle

is_moving abstractmethod property

Whether the motor is currently moving.

step abstractmethod property writable

The current state of the device's step counter.

steps_per_rotation abstractmethod property

The number of steps that correspond to a full rotation.

Functions

move_to(target)

Move the motor to a specified rotation and send message when complete.

Parameters:

Name	Type	Description	Default
target	float | str	The target angle (in degrees) or the name of a preset	required

Source code in frog/hardware/plugins/stepper_motor/stepper_motor_base.py

def move_to(self, target: float | str) -> None:
    """Move the motor to a specified rotation and send message when complete.

    Args:
        target: The target angle (in degrees) or the name of a preset
    """
    if isinstance(target, str):
        target = self.preset_angle(target)

    if target < 0.0 or target >= 360.0:
        raise ValueError("Angle must be between 0° and 360°")

    self.step = round(self.steps_per_rotation * target / 360.0)

preset_angle(name) staticmethod

Get the angle for one of the preset positions.

Parameters:

Name	Type	Description	Default
name	str	Name of preset angle	required

Returns:

Type	Description
float	The angle in degrees

Source code in frog/hardware/plugins/stepper_motor/stepper_motor_base.py

@staticmethod
def preset_angle(name: str) -> float:
    """Get the angle for one of the preset positions.

    Args:
        name: Name of preset angle

    Returns:
        The angle in degrees
    """
    try:
        return ANGLE_PRESETS[name]
    except KeyError as e:
        raise ValueError(f"{name} is not a valid preset") from e

send_move_end_message()

Send a message containing the angle moved to, once move ends.

Source code in frog/hardware/plugins/stepper_motor/stepper_motor_base.py

def send_move_end_message(self) -> None:
    """Send a message containing the angle moved to, once move ends."""
    self.send_message("move.end", moved_to=self.angle)

stop_moving() abstractmethod

Immediately stop moving the motor.

Source code in frog/hardware/plugins/stepper_motor/stepper_motor_base.py

@abstractmethod
def stop_moving(self) -> None:
    """Immediately stop moving the motor."""