Merge pull request #13 from gelio5/12-encoder-integration

encoder integration

setup.py

@@ -8,7 +8,7 @@
 
 setup(
     name='step_driver_g071_api',
-    version='0.8',
+    version='0.9',
     packages=['step_driver_g071_api'],
     url='https://github.com/gelio5/step_driver_G071_API.git',
     license='MIT',

step_driver_g071_api/step_driver.py

@@ -30,13 +30,16 @@ class StepDriver:
         For simultaneously objects use moving methods in thread with pause between threads <= 50 ms.
     """
 
+    # pylint: disable=too-many-instance-attributes
+
     def __init__(self,
                  port: str,
                  modbus_address: int,
                  speed_to_search_home_pos: int = 5000,
                  max_pos: int = None):
         self._commands: dict = {
             'MOVE': 0x01,
+            'UPDATE': 0x02,
             'INIT': 0x03,
             'STOP': 0x04
         }
@@ -47,6 +50,7 @@ def __init__(self,
         self._address = modbus_address
         self._speed_to_search_home_pos = speed_to_search_home_pos
         self._max_position = max_pos
+        self._encoder: int = 0
 
     def _get_status(self) -> bool:
         return self._status
@@ -122,4 +126,19 @@ def _update_info(self) -> None:
         self._status = bool(received_data[0])
         self._current_pos = unpack('<I', pack('<HH', *received_data[1:]))[0]
 
+    def _update_encoder(self) -> None:
+        """Update encoder value by register 13 READ, expected range [0 ... 4095]"""
+        with self.device:
+            self.device.write_registers(slave=self._address,
+                                        address=0,
+                                        values=[self._commands['UPDATE']])
+        with self.device:
+            received_data = self.device.read_holding_registers(slave=self._address,
+                                                               count=1,
+                                                               address=12).registers
+        self._encoder = unpack('<I', pack('<H', *received_data[0]))[0]
+
+    def _get_encoder(self) -> int:
+        return self._encoder
     status = property(fget=_get_status)
+    encoder = property(fget=_get_encoder)