This is a library for controlling the CMMO-ST drive controllers on the colony-picking robot design project. It provides a DriveManager class which maintains Modbus connections with each of the drives and provides convenience methods for controlling them. See the documentation for more information.

Usage of a virtual environment is highly recommended.

Install with pip directly from this repository:

python -m venv .venv
.\.venv\Scripts\activate # Un*x systems: source .venv/bin/activate
pip install "git+https://github.com/msudesigncpr/libmotorctrl.git"

All methods provided by this library are provided as coroutines to facillitate performing tasks on multiple drive controllers concurrently without interfering with the rest of the process control code. Please familiarize yourself with the asyncio documentation (particularly the section on coroutines and tasks).

To get started quickly, the following code will initialize, home, move and shut down the drives in sequence.

import asyncio
from libmotorctrl import DriveManager, DriveTarget

async def main():
    drive_ctrl = DriveManager()
    await drive_ctrl.init_drives()

    await drive_ctrl.home(DriveTarget.DriveZ)
    await drive_ctrl.home(DriveTarget.DriveX)
    await drive_ctrl.home(DriveTarget.DriveY)

    await drive_ctrl.move(150_000, 100_000, 90_000)

    await drive_ctrl.terminate()


if __name__ == "__main__":
    asyncio.run(main())