PySigmaKoki 2.0.0__tar.gz → 2.1.3__tar.gz

pysigmakoki-2.1.3/PKG-INFO

@@ -0,0 +1,29 @@
+Metadata-Version: 2.1
+Name: PySigmaKoki
+Version: 2.1.3
+Summary: Python Interface for Instruments by Sigma Koki
+Author-email: Akira Okumura <oxon@mac.com>
+License: BSD License
+Project-URL: Repository, https://github.com/akira-okumura/PySigmaKoki.git
+Project-URL: Issues, https://github.com/akira-okumura/PySigmaKoki/issues
+Classifier: Programming Language :: Python :: 3
+Classifier: License :: OSI Approved :: BSD License
+Classifier: Operating System :: OS Independent
+Description-Content-Type: text/markdown
+Requires-Dist: pyserial
+
+# PySigmaKoki
+Python module to control Sigma Koki stages
+
+# Install
+    $ pip install -i https://pypi.anaconda.org/oxon/simple pysigmakoki
+
+# Example
+    >>> import sigma_koki
+    >>> gsc02 = sigma_koki.GSC02()
+    >>> gsc02.open('/dev/tty.usbserial-FTT75V89A')
+    >>> gsc02.setSpeed(1, 50, 20000, 1000, 50, 20000, 1000)
+    >>> gsc02.returnToMechanicalOrigin('+', '+')
+    >>> gsc02.move(-50000, -50000)
+    >>> gsc02.getStatus()
+    '-    50000,-    50000,K,K,R'

pysigmakoki-2.1.3/PySigmaKoki.egg-info/PKG-INFO

@@ -0,0 +1,29 @@
+Metadata-Version: 2.1
+Name: PySigmaKoki
+Version: 2.1.3
+Summary: Python Interface for Instruments by Sigma Koki
+Author-email: Akira Okumura <oxon@mac.com>
+License: BSD License
+Project-URL: Repository, https://github.com/akira-okumura/PySigmaKoki.git
+Project-URL: Issues, https://github.com/akira-okumura/PySigmaKoki/issues
+Classifier: Programming Language :: Python :: 3
+Classifier: License :: OSI Approved :: BSD License
+Classifier: Operating System :: OS Independent
+Description-Content-Type: text/markdown
+Requires-Dist: pyserial
+
+# PySigmaKoki
+Python module to control Sigma Koki stages
+
+# Install
+    $ pip install -i https://pypi.anaconda.org/oxon/simple pysigmakoki
+
+# Example
+    >>> import sigma_koki
+    >>> gsc02 = sigma_koki.GSC02()
+    >>> gsc02.open('/dev/tty.usbserial-FTT75V89A')
+    >>> gsc02.setSpeed(1, 50, 20000, 1000, 50, 20000, 1000)
+    >>> gsc02.returnToMechanicalOrigin('+', '+')
+    >>> gsc02.move(-50000, -50000)
+    >>> gsc02.getStatus()
+    '-    50000,-    50000,K,K,R'

pysigmakoki-2.1.3/PySigmaKoki.egg-info/SOURCES.txt

@@ -0,0 +1,8 @@
+README.md
+pyproject.toml
+sigma_koki.py
+PySigmaKoki.egg-info/PKG-INFO
+PySigmaKoki.egg-info/SOURCES.txt
+PySigmaKoki.egg-info/dependency_links.txt
+PySigmaKoki.egg-info/requires.txt
+PySigmaKoki.egg-info/top_level.txt

pysigmakoki-2.1.3/PySigmaKoki.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

pysigmakoki-2.1.3/PySigmaKoki.egg-info/requires.txt

@@ -0,0 +1 @@
+pyserial

pysigmakoki-2.1.3/PySigmaKoki.egg-info/top_level.txt

@@ -0,0 +1 @@
+sigma_koki

pysigmakoki-2.1.3/README.md

@@ -0,0 +1,15 @@
+# PySigmaKoki
+Python module to control Sigma Koki stages
+
+# Install
+    $ pip install -i https://pypi.anaconda.org/oxon/simple pysigmakoki
+
+# Example
+    >>> import sigma_koki
+    >>> gsc02 = sigma_koki.GSC02()
+    >>> gsc02.open('/dev/tty.usbserial-FTT75V89A')
+    >>> gsc02.setSpeed(1, 50, 20000, 1000, 50, 20000, 1000)
+    >>> gsc02.returnToMechanicalOrigin('+', '+')
+    >>> gsc02.move(-50000, -50000)
+    >>> gsc02.getStatus()
+    '-    50000,-    50000,K,K,R'

pysigmakoki-2.1.3/pyproject.toml

@@ -0,0 +1,25 @@
+[build-system]
+requires = ["setuptools >= 61.0", "wheel", "pyserial"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "PySigmaKoki"
+version = "2.1.3"
+description = "Python Interface for Instruments by Sigma Koki"
+authors = [
+    { name = "Akira Okumura", email = "oxon@mac.com" }
+]
+readme = {file = "README.md", content-type = "text/markdown"}
+license = {text = "BSD License"}
+classifiers = [
+    "Programming Language :: Python :: 3",
+    "License :: OSI Approved :: BSD License",
+    "Operating System :: OS Independent"
+]
+dependencies = [
+    "pyserial"
+]
+
+[project.urls]
+Repository = "https://github.com/akira-okumura/PySigmaKoki.git"
+Issues = "https://github.com/akira-okumura/PySigmaKoki/issues"

pysigmakoki-2.1.3/setup.cfg

@@ -0,0 +1,4 @@
+[egg_info]
+tag_build = 
+tag_date = 0
+

pysigmakoki-2.1.3/sigma_koki.py

@@ -0,0 +1,315 @@
+"""
+This is an interface module for instruments produced by Sigma Koki
+"""
+
+try:
+    # It is not needed to import ValueError in newer Python versions
+    from exceptions import ValueError
+except:
+    pass
+import serial
+import sys
+
+class BaseStageController(object):
+    """
+    Stage controller class commonly used for Sigma Koki GSC02 and SHOT702
+    """
+    def __init__(self, baudrate, product):
+        self.__baudRate = baudrate
+        self.__parityBit = 'N' # None
+        self.__dataBit = 8
+        self.__stopBit = 1
+        self.__rtscts = True
+        self.__product = product
+        self.__acknowledge =  True
+
+    def setBaudRate(self, rate):
+        rates = {'GSC-02': (2400, 4800, 9600, 19200),
+                 'SHOT-702' : (38400,),
+                 'SHOT-702H' : (38400,)}
+        if rate in rates[self.__product]:
+            self.__baudRate = rate
+        else:
+            raise ValueError('Attempting to set an invalid buard rate of %d to %s. The rate must be chosen from %s.' % (rate, self.__product, rates[self.__product]))
+
+    def disableAcknowledge(self):
+        self.__acknowledge = False
+
+    def write(self, command, acknowledge=True):
+        # 'str' class needs be converted into 'bytes'
+        # e.g., 'command' -> b'command'
+        self.serial.write((command + '\r\n').encode())
+
+        if not self.__acknowledge or not acknowledge:
+            return
+        
+        ack = self.readline()
+        if ack == 'OK':
+            return
+        else:
+            raise RuntimeError('%s returned bad acknowledge "%s"' % (self.__product, ack))
+
+    def query(self, command):
+        self.write(command, False)
+        return self.readline()
+
+    def readline(self):
+        # convert 'bytes' to 'str'
+        result = str(self.serial.readline())
+        if result[:2] == "b'" and result[-1:] == "'":
+            result = result[2:-1] # drop byte code prefix and suffix
+        if result[-4:] == '\\r\\n':
+            result = result[:-4] # drop delimeter
+
+        return result
+
+    def open(self, port, readTimeOut = 1, writeTimeOut = 1):
+        self.serial = serial.Serial(port         = port,
+                                    baudrate     = self.__baudRate,
+                                    bytesize     = self.__dataBit,
+                                    parity       = self.__parityBit,
+                                    stopbits     = self.__stopBit,
+                                    timeout      = readTimeOut,
+                                    writeTimeout = writeTimeOut,
+                                    rtscts       = self.__rtscts)
+
+    def close(self):
+        self.serial.close()
+
+    def returnToMechanicalOrigin(self, stage1, stage2):
+        """
+        Moves the stages to the +/- end points and reset the coordinate values
+        to zero.
+        """
+        if self.__product == 'GSC-02':
+            if stage1 == '+' and stage2 == '+':
+                self.write('H:W++')
+            elif stage1 == '+' and stage2 == '-':
+                self.write('H:W+-')
+            elif stage1 == '-' and stage2 == '+':
+                self.write('H:W-+')
+            elif stage1 == '-' and stage2 == '-':
+                self.write('H:W--')
+            elif stage1 == '+':
+                self.write('H:1+')
+            elif stage1 == '-':
+                self.write('H:1-')
+            elif stage2 == '+':
+                self.write('H:2+')
+            elif stage2 == '-':
+                self.write('H:2-')
+            else:
+                return
+        elif self.__product == 'SHOT-702':
+            if stage1 == True and stage2 == True:
+                self.write('H:W')
+            elif stage1 == True:
+                self.write('H:1')
+            elif stage2 == True:
+                self.write('H:2')
+            else:
+                return
+
+    def move(self, stage1, stage2):
+        """
+        Moves the stages with the specified values. Since GSC-02 is a half-step
+        stepping driver, 1 pulse corresponds to "half-step movement" in the
+        stage catalogues.
+        """
+        if self.__product == 'GSC-02':
+            limit = 16777214
+        elif self.__product == 'SHOT-702':
+            limit = 268435455
+
+        if not (-limit <= stage1 <= limit):
+            raise ValueError('stage1 must be between -%d and %d.' % (limit, limit))
+
+        if not (-limit <= stage2 <= limit):
+            raise ValueError('stage2 must be between -%d and %d.' % (limit, limit))
+
+        command = 'M:W'
+        if stage1 >= 0:
+            command += '+P%d' % stage1
+        else:
+            command += '-P%d' % -stage1
+
+        if stage2 >= 0:
+            command += '+P%d' % stage2
+        else:
+            command += '-P%d' % -stage2
+
+        self.write(command)
+        self.go()
+
+    def jog(self, stage1, stage2):
+        """
+        Moves the stages continuously at the minimum speed.
+        stage1: '+' positive direction, '-' negative direction
+        stage2: '+' positive direction, '-' negative direction
+        If other values are given, stages will not move.
+        """
+        if stage1 == '+' and stage2 == '+':
+            self.write('J:W++')
+        elif stage1 == '+' and stage2 == '-':
+            self.write('J:W+-')
+        elif stage1 == '-' and stage2 == '+':
+            self.write('J:W-+')
+        elif stage1 == '-' and stage2 == '-':
+            self.write('J:W--')
+        elif stage1 == '+':
+            self.write('J:1+')
+        elif stage1 == '-':
+            self.write('J:1-')
+        elif stage2 == '+':
+            self.write('J:2+')
+        elif stage2 == '-':
+            self.write('J:2-')
+        else:
+            return
+        
+        self.go()
+
+    def go(self):
+        """
+        Moves the stages. To be used internally.
+        """
+        self.write('G')
+
+    def decelerate(self, stage1, stage2):
+        """
+        Decelerates and stop the stages. 
+        """
+        if stage1 and stage2:
+            self.write('L:W')
+        elif stage1:
+            self.write('L:1')
+        elif stage2:
+            self.write('L:2')
+
+    def stop(self):
+        """
+        Stops the stages immediately.
+        """
+        self.write('L:E')
+
+    def initializeOrigin(self, stage1, stage2):
+        """
+        Sets the origin to the current position.
+        stage1: If true, set the origin of the stage 1 to the current position
+        stage2: If true, set the origin of the stage 1 to the current position
+        """
+        if stage1:
+            self.write('R:1')
+
+        if stage2:
+            self.write('R:2')
+
+    def enableMotorExcitation(self, stage1 = True, stage2 = False):
+        """
+        Enables motor excitation
+        """
+        if stage1 in (True, False):
+            self.write('C:1%d' % stage1)
+
+        if stage2 in (True, False):
+            self.write('C:2%d' % stage2)
+
+    def getStatus(self):
+        """
+        Returns the status of the controller
+        """
+        return self.query('Q:')
+
+    def getACK3(self):
+        """
+        Returns the status of ACK3
+        """
+        return self.query('!:')
+
+    def getVersion(self):
+        """
+        Returns the ROM version
+        """
+        return self.query('?:V')
+
+class GSC02(BaseStageController):
+    """
+    Stage controller GSC-02
+    """
+    def __init__(self):
+        # 9600 bps the initial factory setting
+        BaseStageController.__init__(self, 9600, 'GSC-02')
+        self.disableAcknowledge()
+
+    def setSpeed(self, highspeed, minSpeed1, maxSpeed1, accelerationTime1,
+                 minSpeed2, maxSpeed2, accelerationTime2):
+        """
+        Sets the movement speeds of the stages
+        highspeed: If true, speed range is 50-20000, else 1-200
+        minSpeed1/2: Minimum speed (PPS)
+        maxSpeed1/2: Maximum speed (PPS)
+        accelerationTime1/2: Acceleration time to be taken from min to max (ms)
+
+        |      _________        ... maximum speed (PPS)
+        |    /          \
+        |   /            \
+        |  /              \     ... minimum speed (PPS)
+        |  |              |
+        |  |              |
+        |__|______________|________
+           <->              acceleration time (ms)
+                        <-> deceleration time (ms)
+        """
+        if not highspeed:
+            if not (1 <= minSpeed1 <= maxSpeed1 <= 200):
+                raise ValueError('Must be 1 <= minSpeed1 <= maxSpeed1 <= 200 in low speed range.')
+            if not (1 <= minSpeed2 <= maxSpeed2 <= 200):
+                raise ValueError('Must be 1 <= minSpeed2 <= maxSpeed2 <= 200 in low speed range.')
+        else:
+            if not (50 <= minSpeed1 <= maxSpeed1 <= 20000):
+                raise ValueError('Must be 50 <= minSpeed1 <= maxSpeed1 <= 20000 in high speed range.')
+            if not (50 <= minSpeed2 <= maxSpeed2 <= 20000):
+                raise ValueError('Must be 50 <= minSpeed2 <= maxSpeed2 <= 20000 in high speed range.')
+
+        if not (0 <= accelerationTime1 <= 1000):
+            raise ValueError('Must be 0 <= accelerationTime1 <= 1000.')
+
+        if not (0 <= accelerationTime2 <= 1000):
+            raise ValueError('Must be 0 <= accelerationTime2 <= 1000.')
+
+        if highspeed:
+            self.write('D:2S%dF%dR%dS%dF%dR%d' % (minSpeed1, maxSpeed1, accelerationTime1, minSpeed2, maxSpeed2, accelerationTime2))
+        else:
+            self.write('D:1S%dF%dR%dS%dF%dR%d' % (minSpeed1, maxSpeed1, accelerationTime1, minSpeed2, maxSpeed2, accelerationTime2))
+
+class SHOT702(BaseStageController):
+    """
+    Stage controller SHOT-702
+    """
+    def __init__(self):
+        # 9600 bps the initial factory setting
+        BaseStageController.__init__(self, 38400, 'SHOT-702')
+
+    def setSpeed(self, minSpeed1, maxSpeed1, accelerationTime1, minSpeed2, maxSpeed2, accelerationTime2):
+        """
+        Sets the movement speeds of the stages
+        minSpeed1/2: Minimum speed (PPS)
+        maxSpeed1/2: Maximum speed (PPS)
+        accelerationTime1/2: Acceleration time to be taken from min to max (ms)     
+        """
+        if not (1 <= minSpeed1 <= maxSpeed1 <= 500000):
+            raise ValueError('Must be 1 <= minSpeed1 <= maxSpeed1 <= 500000.')
+
+        if not (1 <= minSpeed2 <= maxSpeed2 <= 500000):
+            raise ValueError('Must be 1 <= minSpeed2 <= maxSpeed2 <= 500000.')
+
+        if not (0 <= accelerationTime1 <= 1000):
+            raise ValueError('Must be 0 <= accelerationTime <= 1000.')
+
+        if not (0 <= accelerationTime2 <= 1000):
+            raise ValueError('Must be 0 <= accelerationTime <= 1000.')
+
+        self.write('D:WS%dF%dR%dS%dF%dR%d' % (minSpeed1, maxSpeed1, accelerationTime1, minSpeed2, maxSpeed2, accelerationTime2))
+
+    # Some query commands, ?:P, ?:S, ?:D, and ?:B, are not implemented yet
+    

PySigmaKoki-2.0.0/PKG-INFO

@@ -1,17 +0,0 @@
-Metadata-Version: 1.1
-Name: PySigmaKoki
-Version: 2.0.0
-Summary: Python Interface for Instruments by Sigma Koki
-Home-page: https://github.com/akira-okumura/PySigmaKoki
-Author: Akira Okumura
-Author-email: oxon@mac.com
-License: BSD License
-Description: 
-        This is an interface module for instruments produced by Sigma Koki
-        
-Platform: MacOS :: MacOS X
-Platform: POSIX
-Platform: Windows
-Classifier: Topic :: Terminals :: Serial
-Classifier: Development Status :: 5 - Production/Stable
-Classifier: Programming Language :: Python

PySigmaKoki-2.0.0/setup.py

@@ -1,19 +0,0 @@
-from distutils.core import setup
-import sigma_koki
-
-setup(name='PySigmaKoki',
-      version='2.0.0',
-      description='Python Interface for Instruments by Sigma Koki',
-      author='Akira Okumura',
-      author_email='oxon@mac.com',
-      license='BSD License',
-      platforms=['MacOS :: MacOS X', 'POSIX', 'Windows'],
-      url='https://github.com/akira-okumura/PySigmaKoki',
-      py_modules=['sigma_koki'],
-      install_requires=['pyserial'],
-      classifiers=['Topic :: Terminals :: Serial',
-                   'Development Status :: 5 - Production/Stable',
-                   'Programming Language :: Python',
-                   ],
-      long_description=sigma_koki.__doc__
-      )

PySigmaKoki-2.0.0/sigma_koki.py

@@ -1,228 +0,0 @@
-"""
-This is an interface module for instruments produced by Sigma Koki
-"""
-
-try:
-    from exceptions import ValueError
-except:
-    pass
-import serial
-import sys
-
-class GSC02(object):
-    """
-    Stage controller GSC-02
-    """
-    def __init__(self):
-        self.__baudRate = 9600 # 9600 bps
-        self.__parityBit = 'N' # None
-        self.__dataBit = 8
-        self.__stopBit = 1
-        self.__rtscts = True
-
-    def setBaudRate(self, rate):
-        if rate in (2400, 4800, 9600, 19200):
-            self.__baudRate = rate
-        else:
-            raise ValueError('Invalid buard rate %d was given. Must be chosen from 2400/4800/9600/19200.' % rate)
-
-    def open(self, port, readTimeOut = 1, writeTimeOut = 1):
-        self.serial = serial.Serial(port         = port,
-                                    baudrate     = self.__baudRate,
-                                    bytesize     = self.__dataBit,
-                                    parity       = self.__parityBit,
-                                    stopbits     = self.__stopBit,
-                                    timeout      = readTimeOut,
-                                    writeTimeout = writeTimeOut,
-                                    rtscts       = self.__rtscts)
-
-    def write(self, command):
-        self.serial.write(command + b'\r\n')
-
-    def readline(self):
-        return self.serial.readline()[:-2]
-
-    def returnToMechanicalOrigin(self, stage1, stage2):
-        """
-        Moves the stages to the +/- end points and reset the coordinate values
-        to zero.
-        """
-        if stage1 == b'+' and stage2 == b'+':
-            self.write(b'H:W++')
-        elif stage1 == b'+' and stage2 == b'-':
-            self.write(b'H:W+-')
-        elif stage1 == b'-' and stage2 == b'+':
-            self.write(b'H:W-+')
-        elif stage1 == b'-' and stage2 == b'-':
-            self.write(b'H:W--')
-        elif stage1 == b'+':
-            self.write(b'H:1+')
-        elif stage1 == b'-':
-            self.write(b'H:1-')
-        elif stage2 == b'+':
-            self.write(b'H:2+')
-        elif stage2 == b'-':
-            self.write(b'H:2-')
-        else:
-            return
-
-    def move(self, stage1, stage2):
-        """
-        Moves the stages with the specified values. Since GSC-02 is a half-step
-        stepping driver, 1 pulse corresponds to "half-step movement" in the
-        stage catalogues.
-        """
-        if not (-16777214 <= stage1 <= 16777214):
-            raise ValueError('stage1 must be between -16777214 and 16777214.')
-
-        if not (-16777214 <= stage2 <= 16777214):
-            raise ValueError('stage2 must be between -16777214 and 16777214.')
-
-        command = b'M:W'
-        if stage1 >= 0:
-            command += b'+P%d' % stage1
-        else:
-            command += b'-P%d' % -stage1
-
-        if stage2 >= 0:
-            command += b'+P%d' % stage2
-        else:
-            command += b'-P%d' % -stage2
-
-        self.write(command)
-        self.go()
-
-    def jog(self, stage1, stage2):
-        """
-        Moves the stages continuously at the minimum speed.
-        stage1: '+' positive direction, '-' negative direction
-        stage2: '+' positive direction, '-' negative direction
-        If other values are given, stages will not move.
-        """
-        if stage1 == b'+' and stage2 == b'+':
-            self.write(b'J:W++')
-        elif stage1 == b'+' and stage2 == b'-':
-            self.write(b'J:W+-')
-        elif stage1 == b'-' and stage2 == b'+':
-            self.write(b'J:W-+')
-        elif stage1 == b'-' and stage2 == b'-':
-            self.write(b'J:W--')
-        elif stage1 == b'+':
-            self.write(b'J:1+')
-        elif stage1 == b'-':
-            self.write(b'J:1-')
-        elif stage2 == b'+':
-            self.write(b'J:2+')
-        elif stage2 == b'-':
-            self.write(b'J:2-')
-        else:
-            return
-        
-        self.go()
-
-    def go(self):
-        """
-        Moves the stages. To be used internally.
-        """
-        self.write(b'G')
-
-    def decelerate(self, stage1, stage2):
-        """
-        Decelerates and stop the stages. 
-        """
-        if stage1 and stage2:
-            self.write(b'L:W')
-        elif stage1:
-            self.write(b'L:1')
-        elif stage2:
-            self.write(b'L:2')
-
-    def stop(self):
-        """
-        Stops the stages immediately.
-        """
-        self.write(b'L:E')
-
-    def initializeOrigin(self, stage1, stage2):
-        """
-        Sets the origin to the current position.
-        stage1: If true, set the origin of the stage 1 to the current position
-        stage2: If true, set the origin of the stage 1 to the current position
-        """
-        if stage1:
-            self.write(b'R:1')
-
-        if stage2:
-            self.write(b'R:2')
-
-    def setSpeed(self, highspeed, minSpeed1, maxSpeed1, accelerationTime1,
-                 minSpeed2, maxSpeed2, accelerationTime2):
-        """
-        Sets the movement speeds of the stages
-        highspeed: If true, speed range is 50-20000, else 1-200
-        minSpeed1/2: Minimum speed (PPS)
-        maxSpeed1/2: Maximum speed (PPS)
-        accelerationTime1/2: Acceleration time to be taken from min to max (ms)
-
-        |      _________        ... maximum speed (PPS)
-        |    /          \
-        |   /            \
-        |  /              \     ... minimum speed (PPS)
-        |  |              |
-        |  |              |
-        |__|______________|________
-           <->              acceleration time (ms)
-                        <-> deceleration time (ms)
-        """
-        if not highspeed:
-            if not (1 <= minSpeed1 <= maxSpeed1 <= 200):
-                raise ValueError('Must be 1 <= minSpeed1 <= maxSpeed1 <= 200 in low speed range.')
-            if not (1 <= minSpeed2 <= maxSpeed2 <= 200):
-                raise ValueError('Must be 1 <= minSpeed2 <= maxSpeed2 <= 200 in low speed range.')
-        else:
-            if not (50 <= minSpeed1 <= maxSpeed1 <= 20000):
-                raise ValueError('Must be 50 <= minSpeed1 <= maxSpeed1 <= 20000 in high speed range.')
-            if not (50 <= minSpeed2 <= maxSpeed2 <= 20000):
-                raise ValueError('Must be 50 <= minSpeed2 <= maxSpeed2 <= 20000 in high speed range.')
-
-        if not (0 <= accelerationTime1 <= 1000):
-            raise ValueError('Must be 00 <= accelerationTime1 <= 1000.')
-
-        if not (0 <= accelerationTime2 <= 1000):
-            raise ValueError('Must be 00 <= accelerationTime2 <= 1000.')
-
-        if highspeed:
-            self.write(b'D:2S%dF%dR%dS%dF%dR%d' % (minSpeed1, maxSpeed1, accelerationTime1, minSpeed2, maxSpeed2, accelerationTime2))
-        else:
-            self.write(b'D:1S%dF%dR%dS%dF%dR%d' % (minSpeed1, maxSpeed1, accelerationTime1, minSpeed2, maxSpeed2, accelerationTime2))
-
-    def enableMotorExcitation(self, stage1 = True, stage2 = False):
-        """
-        Enables motor excitation
-        """
-        if stage1 in (True, False):
-            self.write(b'C:1%d' % stage1)
-
-        if stage2 in (True, False):
-            self.write(b'C:2%d' % stage2)
-
-    def getStatus(self):
-        """
-        Returns the status of the controller
-        """
-        self.write(b'Q:')
-        return self.readline()
-
-    def getACK3(self):
-        """
-        Returns the status of ACK3
-        """
-        self.write(b'!:')
-        return self.readline()
-
-    def getVersion(self):
-        """
-        Returns the ROM version
-        """
-        self.write(b'?:V')
-        return self.readline()