Merge branch 'fast-0061-stepper' into fast-0061-stepper-0.80

missionpinball · Oct 12, 2024 · df1b7ca · df1b7ca
2 parents 170e54a + f9cb10b
commit df1b7ca
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Showing 3 changed files with 18 additions and 12 deletions.
diff --git a/mpf/config_spec.yaml b/mpf/config_spec.yaml
@@ -754,9 +754,9 @@ fast_servos:
     min_us: single|int|1000
     home_us: single|int|1500
     max_runtime: single|ms|2000  # 65535 max
-fast_steppers:
+fast_stepper_settings:
     __valid_in__: machine                 # todo add to validator
-    __allow_others__:
+    default_speed: single|int|600
 file_shows:
     __valid_in__: machine, mode                      # todo add to validator
     __type__: config_dict

diff --git a/mpf/platforms/fast/fast.py b/mpf/platforms/fast/fast.py
@@ -458,12 +458,13 @@ async def configure_stepper(self, number: str, config: dict) -> FastStepper:
         # verify this board support servos
         assert int(port) <= int(brk_board.features['stepper_ports'])  # TODO should this be stored as an int?
 
-        if 'platform_settings' in config:
-            config.update(self.machine.config_validator.validate_config('fast_steppers', config['platform_settings']))
-            del config['platform_settings']
-
         return FastStepper(brk_board, port, config)
 
+    @classmethod
+    def get_stepper_config_section(cls):
+        """Return config section."""
+        return "fast_stepper_settings"
+
     def _parse_switch_number(self, number):
         try:
             board_str, switch_str = number.split("-")

diff --git a/mpf/platforms/fast/fast_stepper.py b/mpf/platforms/fast/fast_stepper.py
@@ -13,7 +13,7 @@ class FastStepper(StepperPlatformInterface):
     """A stepper in the FAST platform connected to a FAST Expansion Board."""
 
     __slots__ = ["base_address", "config", "exp_connection", "log", "stepper_index",
-                 "_is_moving"]
+                 "_is_moving", "_default_speed"]
 
     def __init__(self, breakout_board, port, config):
         """Initialize servo."""
@@ -26,7 +26,7 @@ def __init__(self, breakout_board, port, config):
 
         self.exp_connection.register_processor('MS:', self.base_address, self.stepper_index, self._process_ms)
         self._is_moving = False
-
+        self._default_speed = Util.int_to_hex_string(self.config['default_speed'], True)
 
     def home(self, direction):
         if direction != 'counterclockwise':
@@ -51,7 +51,6 @@ def move_rel_pos(self, position, speed=None):
 
         base_command = "MF" if position > 0 else "MR"
         hex_position = Util.int_to_hex_string(position, True)
-        cmd_args = [hex_position]
         self.log.debug("Moving stepper index %s: %s steps with speed %s", self.stepper_index, position, speed)
 
         if speed:
@@ -60,10 +59,11 @@ def move_rel_pos(self, position, speed=None):
                                       f"but received value of {speed}.",
                                       2, self.__class__.__name__)
             speed = Util.int_to_hex_string(speed, True)
-            cmd_args.append(speed)
+        else:
+            speed = self._default_speed
 
         self._is_moving = True
-        self._send_command(base_command, cmd_args)
+        self._send_command(base_command, [hex_position, speed])
 
     def move_vel_mode(self, _velocity):
         pass
@@ -81,5 +81,10 @@ def _send_command(self, base_command, payload=[]):
 
     def _process_ms(self, message):
         _index, state = message.split(",")
-        state_flags = Util.hex_string_to_int(state)
+        state_flags = int(state, 16)
         self._is_moving = state_flags & 1
+        ## Unused
+        # self._is_reversed = state_flags & (1 << 1)
+        # self._is_home = state_flags & (1 << 2)
+        # self._is_limit = state_flags & (1 << 3)
+        # self.is_braked = state_flags & (1 << 4)