################################################
# Module: motor.py
# Created: 21 April 2009
# Author: Daniel Thompson
# http://danthompsonsblog.blogspot.com/
# Version: 0.2
# License: GPLv3
# http://www.fsf.org/licensing/
'''Provides a serial connection abstraction layer
for use with Arduino "MultipleSteppers" sketch.
'''
#######################fhgjfhjfghjfghjgfhjfghjgfhjghjghjghj#########################
import motor
import serial

#setup the serial port
usbport = 'COM4'
ser = serial.Serial(usbport, 115200, timeout=1)

# convert a decimal (denary, base 10) integer to a binary string (base 2)
def d2b(n):
'''convert denary integer n to binary string bStr'''
bStr = ''
if n < 0: raise ValueError, "must be a positive integer"
if n == 0:
return '0'
while n > 0:
bStr = str(n % 2) + bStr
n = n >> 1
return bStr

'''Returns the number of bit bytes (eighths) in binary string.
Always rounds up, never rounds down.'''
def binaryCount(number):
sNumber = str(number)
length = len(sNumber)
numBytes = length / 8.0
numBytesInt = length / 8
if numBytes > numBytesInt:
return numBytesInt + 1
else:
return numBytesInt

'''This function gets the first byte, removes it from the string and
returns a new value'''
def shiftLeft(binary):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
nBinary = motor.d2b(newBinary)
print "I took away", firstByte
print "And now I'm left with", nBinary
return nBinary

# Wraps several functions to split
# the "steps" integer into bytes ready for sending
# Then it write packet header (255) and then
# all the other bytes

'''The final move command. I combines all the other functions in this
module to move the motor to the specified position'''
def position(num,degsPerStepFloat,stepsFloat):
steps = int(stepsFloat / degsPerStepFloat)
if(steps < 65535 and steps > -1):
binary = motor.d2b(steps)
numBytes = motor.binaryCount(binary)
# from the shiftLef def
ser.write(chr(255))
# note: the 2 in (0,2,1) is critical for alowing two bytes through every time.
for i in range(0,2,1):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
binary = motor.d2b(newBinary)
ser.write(chr(firstByte))
if(steps > -65535 and steps < 0):
stepsNeg = steps * -1
binary = motor.d2b(stepsNeg)
numBytes = motor.binaryCount(binary)
# from the shiftLef def
ser.write(chr(220))
# note: the 2 in (0,2,1) is critical for alowing two bytes through every time.
for i in range(0,2,1):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
binary = motor.d2b(newBinary)
ser.write(chr(firstByte))
return stepsFloat
################################################ # Module: motor.py # Created: 21 April 2009 # Author: Daniel Thompson # http://danthompsonsblog.blogspot.com/ # Version: 0.2 # License: GPLv3 # http://www.fsf.org/licensing/ '''Provides a serial connection abstraction layer for use with Arduino "MultipleSteppers" sketch. ''' ################################################ import motor import serial #setup the serial port usbport = 'COM4' ser = serial.Serial(usbport, 115200, timeout=1) # convert a decimal (denary, base 10) integer to a binary string (base 2) def d2b(n): '''convert denary integer n to binary string bStr''' bStr = '' if n < 0: raise ValueError, "must be a positive integer" if n == 0: return '0' while n > 0: bStr = str(n % 2) + bStr n = n >> 1 return bStr '''Returns the number of bit bytes (eighths) in binary string. Always rounds up, never rounds down.''' def binaryCount(number): sNumber = str(number) length = len(sNumber) numBytes = length / 8.0 numBytesInt = length / 8 if numBytes > numBytesInt: return numBytesInt + 1 else: return numBytesInt '''This function gets the first byte, removes it from the string and returns a new value''' def shiftLeft(binary): sBinary = str(binary) firstByte = int(sBinary,2) & int('11111111',2) newBinary = int(sBinary,2) >> 8 nBinary = motor.d2b(newBinary) print "I took away", firstByte print "And now I'm left with", nBinary return nBinary # Wraps several functions to split # the "steps" integer into bytes ready for sending # Then it write packet header (255) and then # all the other bytes '''The final move command. I combines all the other functions in this module to move the motor to the specified position''' def position(num,degsPerStepFloat,stepsFloat): steps = int(stepsFloat / degsPerStepFloat) if(steps < 65535 and steps > -1): binary = motor.d2b(steps) numBytes = motor.binaryCount(binary) # from the shiftLef def ser.write(chr(255)) # note: the 2 in (0,2,1) is critical for alowing two bytes through every time. for i in range(0,2,1): sBinary = str(binary) firstByte = int(sBinary,2) & int('11111111',2) newBinary = int(sBinary,2) >> 8 binary = motor.d2b(newBinary) ser.write(chr(firstByte)) if(steps > -65535 and steps < 0): stepsNeg = steps * -1 binary = motor.d2b(stepsNeg) numBytes = motor.binaryCount(binary) # from the shiftLef def ser.write(chr(220)) # note: the 2 in (0,2,1) is critical for alowing two bytes through every time. for i in range(0,2,1): sBinary = str(binary) firstByte = int(sBinary,2) & int('11111111',2) newBinary = int(sBinary,2) >> 8 binary = motor.d2b(newBinary) ser.write(chr(firstByte)) return stepsFloat

hooray!


################################################
# Module:   motor.py
# Created:  21 April 2009
# Author:   Daniel Thompson
# http://danthompsonsblog.blogspot.com/
# Version:  0.2
# License:  GPLv3
#   http://www.fsf.org/licensing/
'''Provides a serial connection abstraction layer
for use with Arduino "MultipleSteppers" sketch.
'''
################################################
import motor
import serial

#setup the serial port
usbport = 'COM4'
ser = serial.Serial(usbport, 115200, timeout=1)

# convert a decimal (denary, base 10) integer to a binary string (base 2)
def d2b(n):
   '''convert denary integer n to binary string bStr'''
   bStr = ''
   if n < 0: raise ValueError, "must be a positive integer"
   if n == 0:
       return '0'
   while n > 0:
       bStr = str(n % 2) + bStr
       n = n >> 1
   return bStr

'''Returns the number of bit bytes (eighths) in binary string.
Always rounds up, never rounds down.'''
def binaryCount(number):
       sNumber = str(number)
       length = len(sNumber)
       numBytes = length / 8.0
       numBytesInt = length / 8
       if numBytes > numBytesInt:
                       return numBytesInt + 1
       else:
               return numBytesInt

'''This function gets the first byte, removes it from the string and
returns a new value'''
def shiftLeft(binary):
       sBinary = str(binary)
       firstByte = int(sBinary,2) & int('11111111',2)
       newBinary = int(sBinary,2) >> 8
       nBinary = motor.d2b(newBinary)
       print "I took away", firstByte
       print "And now I'm left with", nBinary
       return nBinary

# Wraps several functions to split
# the "steps" integer into bytes ready for sending
# Then it write packet header (255) and then
# all the other bytes

'''The final move command. I combines all the other functions in this
module to move the motor to the specified position'''
def position(num,degsPerStepFloat,stepsFloat):
       steps = int(stepsFloat / degsPerStepFloat)
       if(steps < 65535 and steps > -1):
               binary = motor.d2b(steps)
               numBytes = motor.binaryCount(binary)
       # from the shiftLef def
               ser.write(chr(255))
               # note: the 2 in (0,2,1) is critical for alowing two bytes through every time.
               for i in range(0,2,1):
                       sBinary = str(binary)
                       firstByte = int(sBinary,2) & int('11111111',2)
                       newBinary = int(sBinary,2) >> 8
                       binary = motor.d2b(newBinary)
                       ser.write(chr(firstByte))
       if(steps > -65535 and steps < 0):
               stepsNeg = steps * -1
               binary = motor.d2b(stepsNeg)
               numBytes = motor.binaryCount(binary)
       # from the shiftLef def
               ser.write(chr(220))
               # note: the 2 in (0,2,1) is critical for alowing two bytes through every time.
               for i in range(0,2,1):
                       sBinary = str(binary)
                       firstByte = int(sBinary,2) & int('11111111',2)
                       newBinary = int(sBinary,2) >> 8
                       binary = motor.d2b(newBinary)
                       ser.write(chr(firstByte))
       return stepsFloat

Arduino

################################################ # Module: motor.py # Created: 21 April 2009 # Author: Daniel Thompson # http://danthompsonsblog.blogspot.com/ # Version: 0.2 # License: GPLv3 # http://www.fsf.org/licensing/ '''Provides a serial connection abstraction layer for use with Arduino "MultipleSteppers" sketch. ''' ################################################ import motor import serial #setup the serial port usbport = 'COM4' ser = serial.Serial(usbport, 115200, timeout=1) # convert a decimal (denary, base 10) integer to a binary string (base 2) def d2b(n): '''convert denary integer n to binary string bStr''' bStr = '' if n &lt; 0: raise ValueError, "must be a positive integer" if n == 0: return '0' while n &gt; 0: bStr = str(n % 2) + bStr n = n &gt;&gt; 1 return bStr '''Returns the number of bit bytes (eighths) in binary string. Always rounds up, never rounds down.''' def binaryCount(number): sNumber = str(number) length = len(sNumber) numBytes = length / 8.0 numBytesInt = length / 8 if numBytes &gt; numBytesInt: return numBytesInt + 1 else: return numBytesInt '''This function gets the first byte, removes it from the string and returns a new value''' def shiftLeft(binary): sBinary = str(binary) firstByte = int(sBinary,2) &amp; int('11111111',2) newBinary = int(sBinary,2) &gt;&gt; 8 nBinary = motor.d2b(newBinary) print "I took away", firstByte print "And now I'm left with", nBinary return nBinary # Wraps several functions to split # the "steps" integer into bytes ready for sending # Then it write packet header (255) and then # all the other bytes '''The final move command. I combines all the other functions in this module to move the motor to the specified position''' def position(num,degsPerStepFloat,stepsFloat): steps = int(stepsFloat / degsPerStepFloat) if(steps &lt; 65535 and steps &gt; -1): binary = motor.d2b(steps) numBytes = motor.binaryCount(binary) # from the shiftLef def ser.write(chr(255)) # note: the 2 in (0,2,1) is critical for alowing two bytes through every time. for i in range(0,2,1): sBinary = str(binary) firstByte = int(sBinary,2) &amp; int('11111111',2) newBinary = int(sBinary,2) &gt;&gt; 8 binary = motor.d2b(newBinary) ser.write(chr(firstByte)) if(steps &gt; -65535 and steps &lt; 0): stepsNeg = steps * -1 binary = motor.d2b(stepsNeg) numBytes = motor.binaryCount(binary) # from the shiftLef def ser.write(chr(220)) # note: the 2 in (0,2,1) is critical for alowing two bytes through every time. for i in range(0,2,1): sBinary = str(binary) firstByte = int(sBinary,2) &amp; int('11111111',2) newBinary = int(sBinary,2) &gt;&gt; 8 binary = motor.d2b(newBinary) ser.write(chr(firstByte)) return stepsFloat Arduino Code ################################################ # Module: motor.py # Created: 21 April 2009 # Author: Daniel Thompson # http://danthompsonsblog.blogspot.com/ # Version: 0.2 # License: GPLv3 # http://www.fsf.org/licensing/ '''Provides a serial connection abstraction layer for use with Arduino "MultipleSteppers" sketch. ''' ################################################ import motor import serial #setup the serial port usbport = 'COM4' ser = serial.Serial(usbport, 115200, timeout=1) # convert a decimal (denary, base 10) integer to a binary string (base 2) def d2b(n): '''convert denary integer n to binary string bStr''' bStr = '' if n &lt; 0: raise ValueError, "must be a positive integer" if n == 0: return '0' while n &gt; 0: bStr = str(n % 2) + bStr n = n &gt;&gt; 1 return bStr '''Returns the number of bit bytes (eighths) in binary string. Always rounds up, never rounds down.''' def binaryCount(number): sNumber = str(number) length = len(sNumber) numBytes = length / 8.0 numBytesInt = length / 8 if numBytes &gt; numBytesInt: return numBytesInt + 1 else: return numBytesInt '''This function gets the first byte, removes it from the string and returns a new value''' def shiftLeft(binary): sBinary = str(binary) firstByte = int(sBinary,2) &amp; int('11111111',2) newBinary = int(sBinary,2) &gt;&gt; 8 nBinary = motor.d2b(newBinary) print "I took away", firstByte print "And now I'm left with", nBinary return nBinary # Wraps several functions to split # the "steps" integer into bytes ready for sending # Then it write packet header (255) and then # all the other bytes '''The final move command. I combines all the other functions in this module to move the motor to the specified position''' def position(num,degsPerStepFloat,stepsFloat): steps = int(stepsFloat / degsPerStepFloat) if(steps &lt; 65535 and steps &gt; -1): binary = motor.d2b(steps) numBytes = motor.binaryCount(binary) # from the shiftLef def ser.write(chr(255)) # note: the 2 in (0,2,1) is critical for alowing two bytes through every time. for i in range(0,2,1): sBinary = str(binary) firstByte = int(sBinary,2) &amp; int('11111111',2) newBinary = int(sBinary,2) &gt;&gt; 8 binary = motor.d2b(newBinary) ser.write(chr(firstByte)) if(steps &gt; -65535 and steps &lt; 0): stepsNeg = steps * -1 binary = motor.d2b(stepsNeg) numBytes = motor.binaryCount(binary) # from the shiftLef def ser.write(chr(220)) # note: the 2 in (0,2,1) is critical for alowing two bytes through every time. for i in range(0,2,1): sBinary = str(binary) firstByte = int(sBinary,2) &amp; int('11111111',2) newBinary = int(sBinary,2) &gt;&gt; 8 binary = motor.d2b(newBinary) ser.write(chr(firstByte)) return stepsFloat

fixed??

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################################################
# Module:   motor.py
# Created:  21 April 2009
# Author:   Daniel Thompson
# http://danthompsonsblog.blogspot.com/
# Version:  0.2
# License:  GPLv3
#   http://www.fsf.org/licensing/
'''Provides a serial connection abstraction layer
for use with Arduino "MultipleSteppers" sketch.
'''
################################################
import motor
import serial

#setup the serial port
usbport = 'COM4'
ser = serial.Serial(usbport, 115200, timeout=1)

# convert a decimal (denary, base 10) integer to a binary string (base 2)
def d2b(n):
   '''convert denary integer n to binary string bStr'''
   bStr = ''
   if n < 0: raise ValueError, "must be a positive integer"
   if n == 0:
       return '0'
   while n > 0:
       bStr = str(n % 2) + bStr
       n = n >> 1
   return bStr

'''Returns the number of bit bytes (eighths) in binary string.
Always rounds up, never rounds down.'''
def binaryCount(number):
       sNumber = str(number)
       length = len(sNumber)
       numBytes = length / 8.0
       numBytesInt = length / 8
       if numBytes > numBytesInt:
                       return numBytesInt + 1
       else:
               return numBytesInt

'''This function gets the first byte, removes it from the string and
returns a new value'''
def shiftLeft(binary):
       sBinary = str(binary)
       firstByte = int(sBinary,2) & int('11111111',2)
       newBinary = int(sBinary,2) >> 8
       nBinary = motor.d2b(newBinary)
       print "I took away", firstByte
       print "And now I'm left with", nBinary
       return nBinary

# Wraps several functions to split
# the "steps" integer into bytes ready for sending
# Then it write packet header (255) and then
# all the other bytes

'''The final move command. I combines all the other functions in this
module to move the motor to the specified position'''
def position(num,degsPerStepFloat,stepsFloat):
       steps = int(stepsFloat / degsPerStepFloat)
       if(steps < 65535 and steps > -1):
               binary = motor.d2b(steps)
               numBytes = motor.binaryCount(binary)
       # from the shiftLef def
               ser.write(chr(255))
               # note: the 2 in (0,2,1) is critical for alowing two bytes through every time.
               for i in range(0,2,1):
                       sBinary = str(binary)
                       firstByte = int(sBinary,2) & int('11111111',2)
                       newBinary = int(sBinary,2) >> 8
                       binary = motor.d2b(newBinary)
                       ser.write(chr(firstByte))
       if(steps > -65535 and steps < 0):
               stepsNeg = steps * -1
               binary = motor.d2b(stepsNeg)
               numBytes = motor.binaryCount(binary)
       # from the shiftLef def
               ser.write(chr(220))
               # note: the 2 in (0,2,1) is critical for alowing two bytes through every time.
               for i in range(0,2,1):
                       sBinary = str(binary)
                       firstByte = int(sBinary,2) & int('11111111',2)
                       newBinary = int(sBinary,2) >> 8
                       binary = motor.d2b(newBinary)
                       ser.write(chr(firstByte))
       return stepsFloat

tester

#!/usr/bin/env python

import sys
import traceback
import utils
from bin.server import LearndServer

if __name__ == '__main__':
learnd = LearndServer( )

try:
learnd.run()
except KeyboardInterrupt:
utils.log("KeyboardInterrupt - Exiting.")

learnd.close()
except:
traceback.print_exc()
utils.log("Exiting.")

learnd.close()