zaber-motion 7.15.0__py3-none-win_amd64.whl → 8.0.0__py3-none-win_amd64.whl

zaber_motion/__init__.py

@@ -16,6 +16,7 @@ from .dto.log_output_mode import LogOutputMode as LogOutputMode
 from .dto.measurement import Measurement as Measurement
 from .dto.named_parameter import NamedParameter as NamedParameter
 from .dto.rotation_direction import RotationDirection as RotationDirection
+from .dto.unit_conversion_descriptor import UnitConversionDescriptor as UnitConversionDescriptor
 from .exceptions.bad_command_exception import BadCommandException as BadCommandException
 from .exceptions.bad_data_exception import BadDataException as BadDataException
 from .exceptions.binary_command_failed_exception import BinaryCommandFailedException as BinaryCommandFailedException

zaber_motion/ascii/__init__.py

@@ -42,7 +42,6 @@ from ..dto.ascii.get_setting import GetSetting as GetSetting
 from ..dto.ascii.get_setting_result import GetSettingResult as GetSettingResult
 from ..dto.ascii.io_port_label import IoPortLabel as IoPortLabel
 from ..dto.ascii.io_port_type import IoPortType as IoPortType
-from ..dto.ascii.lockstep_axes import LockstepAxes as LockstepAxes
 from ..dto.ascii.measurement_sequence import MeasurementSequence as MeasurementSequence
 from ..dto.ascii.message_type import MessageType as MessageType
 from ..dto.ascii.optional_measurement_sequence import OptionalMeasurementSequence as OptionalMeasurementSequence

zaber_motion/ascii/axis.py

@@ -15,6 +15,7 @@ from ..dto.ascii.response import Response
 from ..dto.measurement import Measurement
 from ..dto.ascii.set_state_axis_response import SetStateAxisResponse
 from ..dto.firmware_version import FirmwareVersion
+from ..dto.unit_conversion_descriptor import UnitConversionDescriptor
 
 if TYPE_CHECKING:
     from .device import Device
@@ -1182,6 +1183,34 @@ class Axis:
             dto.StringResponse.from_binary)
         return response.value
 
+    def get_command_unit_conversion_descriptors(
+            self,
+            command_template: str
+    ) -> List[Optional[UnitConversionDescriptor]]:
+        """
+        Retrieves unit conversion descriptors for a command, allowing unit conversion without a device.
+        The descriptors can be used with the ConvertTo/FromNativeUnits methods of the UnitTable class.
+        Parameters in the command template are denoted by a question mark.
+        For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
+
+        Args:
+            command_template: Template of the command. Parameters are denoted by question marks.
+
+        Returns:
+            Unit conversion descriptor for each parameter in the command. Nil if a parameter does not have conversion.
+        """
+        request = dto.PrepareCommandRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            command_template=command_template,
+        )
+        response = call_sync(
+            "device/get_command_unit_conversion",
+            request,
+            dto.GetCommandUnitConversionResponse.from_binary)
+        return response.value
+
     def set_label(
             self,
             label: str

zaber_motion/ascii/axis_settings.py

@@ -9,6 +9,7 @@ from ..units import UnitsAndLiterals, Units
 from ..dto.ascii.conversion_factor import ConversionFactor
 from ..dto.ascii.get_axis_setting import GetAxisSetting
 from ..dto.ascii.get_axis_setting_result import GetAxisSettingResult
+from ..dto.unit_conversion_descriptor import UnitConversionDescriptor
 
 if TYPE_CHECKING:
     from .axis import Axis
@@ -609,6 +610,32 @@ class AxisSettings:
             dto.BoolResponse.from_binary)
         return response.value
 
+    def get_unit_conversion_descriptor(
+            self,
+            setting: str
+    ) -> UnitConversionDescriptor:
+        """
+        Retrieves unit conversion descriptor for a setting, allowing unit conversion without a device.
+        The descriptor can be used with the ConvertTo/FromNativeUnits methods of the UnitTable class.
+
+        Args:
+            setting: Name of the setting.
+
+        Returns:
+            The unit conversion descriptor for the setting.
+        """
+        request = dto.DeviceGetSettingRequest(
+            interface_id=self._axis.device.connection.interface_id,
+            device=self._axis.device.device_address,
+            axis=self._axis.axis_number,
+            setting=setting,
+        )
+        response = call_sync(
+            "device/get_setting_unit_conversion",
+            request,
+            UnitConversionDescriptor.from_binary)
+        return response
+
     def set_custom_unit_conversions(
             self,
             conversions: List[ConversionFactor]

zaber_motion/ascii/device.py

@@ -22,6 +22,7 @@ from .streams import Streams
 from ..dto.firmware_version import FirmwareVersion
 from ..dto.measurement import Measurement
 from ..dto.ascii.set_state_device_response import SetStateDeviceResponse
+from ..dto.unit_conversion_descriptor import UnitConversionDescriptor
 
 if TYPE_CHECKING:
     from .connection import Connection
@@ -503,6 +504,33 @@ class Device:
             dto.StringResponse.from_binary)
         return response.value
 
+    def get_command_unit_conversion_descriptors(
+            self,
+            command_template: str
+    ) -> List[Optional[UnitConversionDescriptor]]:
+        """
+        Retrieves unit conversion descriptors for a command, allowing unit conversion without a device.
+        The descriptors can be used with the ConvertTo/FromNativeUnits methods of the UnitTable class.
+        Parameters in the command template are denoted by a question mark.
+        For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
+
+        Args:
+            command_template: Template of the command. Parameters are denoted by question marks.
+
+        Returns:
+            Unit conversion descriptor for each parameter in the command. Nil if a parameter does not have conversion.
+        """
+        request = dto.PrepareCommandRequest(
+            interface_id=self.connection.interface_id,
+            device=self.device_address,
+            command_template=command_template,
+        )
+        response = call_sync(
+            "device/get_command_unit_conversion",
+            request,
+            dto.GetCommandUnitConversionResponse.from_binary)
+        return response.value
+
     def set_label(
             self,
             label: str

zaber_motion/ascii/device_settings.py

@@ -9,6 +9,7 @@ from ..units import UnitsAndLiterals, Units
 
 from ..dto.ascii.get_setting import GetSetting
 from ..dto.ascii.get_setting_result import GetSettingResult
+from ..dto.unit_conversion_descriptor import UnitConversionDescriptor
 
 if TYPE_CHECKING:
     from .device import Device
@@ -586,6 +587,31 @@ class DeviceSettings:
             dto.BoolResponse.from_binary)
         return response.value
 
+    def get_unit_conversion_descriptor(
+            self,
+            setting: str
+    ) -> UnitConversionDescriptor:
+        """
+        Retrieves unit conversion descriptor for a setting, allowing unit conversion without a device.
+        The descriptor can be used with the ConvertTo/FromNativeUnits methods of the UnitTable class.
+
+        Args:
+            setting: Name of the setting.
+
+        Returns:
+            The unit conversion descriptor for the setting.
+        """
+        request = dto.DeviceGetSettingRequest(
+            interface_id=self._device.connection.interface_id,
+            device=self._device.device_address,
+            setting=setting,
+        )
+        response = call_sync(
+            "device/get_setting_unit_conversion",
+            request,
+            UnitConversionDescriptor.from_binary)
+        return response
+
     def get_from_all_axes(
             self,
             setting: str

zaber_motion/ascii/lockstep.py

@@ -4,7 +4,6 @@ from typing import TYPE_CHECKING, List
 from ..dto import requests as dto
 from ..units import Units, LengthUnits, VelocityUnits, AccelerationUnits, TimeUnits
 from ..call import call, call_async, call_sync
-from ..dto.ascii.lockstep_axes import LockstepAxes
 
 if TYPE_CHECKING:
     from .device import Device
@@ -735,50 +734,6 @@ class Lockstep:
             dto.BoolResponse.from_binary)
         return response.value
 
-    def get_axes(
-            self
-    ) -> LockstepAxes:
-        """
-        Deprecated: Use GetAxisNumbers instead.
-
-        Gets the axes of the lockstep group.
-
-        Returns:
-            LockstepAxes instance which contains the axes numbers of the lockstep group.
-        """
-        request = dto.LockstepEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-        )
-        response = call(
-            "device/lockstep_get_axes",
-            request,
-            LockstepAxes.from_binary)
-        return response
-
-    async def get_axes_async(
-            self
-    ) -> LockstepAxes:
-        """
-        Deprecated: Use GetAxisNumbers instead.
-
-        Gets the axes of the lockstep group.
-
-        Returns:
-            LockstepAxes instance which contains the axes numbers of the lockstep group.
-        """
-        request = dto.LockstepEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-        )
-        response = await call_async(
-            "device/lockstep_get_axes",
-            request,
-            LockstepAxes.from_binary)
-        return response
-
     def get_axis_numbers(
             self
     ) -> List[int]:

zaber_motion/ascii/pvt_sequence.py

@@ -15,7 +15,6 @@ from ..dto.ascii.measurement_sequence import MeasurementSequence
 from ..dto.ascii.optional_measurement_sequence import OptionalMeasurementSequence
 
 from .pvt_io import PvtIo
-from ..dto.ascii.digital_output_action import DigitalOutputAction
 
 if TYPE_CHECKING:
     from .device import Device
@@ -1348,183 +1347,3 @@ class PvtSequence:
             sequence_data=sequence_data,
         )
         await call_async("device/stream_pvt_submit_data", request)
-
-    def set_digital_output(
-            self,
-            channel_number: int,
-            value: DigitalOutputAction
-    ) -> None:
-        """
-        Deprecated: Use PvtSequence.Io.SetDigitalOutput instead.
-
-        Sets value for the specified digital output channel.
-
-        Args:
-            channel_number: Channel number starting at 1.
-            value: The type of action to perform on the channel.
-        """
-        request = dto.StreamSetDigitalOutputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            channel_number=channel_number,
-            value=value,
-        )
-        call("device/stream_set_digital_output", request)
-
-    async def set_digital_output_async(
-            self,
-            channel_number: int,
-            value: DigitalOutputAction
-    ) -> None:
-        """
-        Deprecated: Use PvtSequence.Io.SetDigitalOutput instead.
-
-        Sets value for the specified digital output channel.
-
-        Args:
-            channel_number: Channel number starting at 1.
-            value: The type of action to perform on the channel.
-        """
-        request = dto.StreamSetDigitalOutputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            channel_number=channel_number,
-            value=value,
-        )
-        await call_async("device/stream_set_digital_output", request)
-
-    def set_all_digital_outputs(
-            self,
-            values: List[DigitalOutputAction]
-    ) -> None:
-        """
-        Deprecated: Use PvtSequence.Io.SetAllDigitalOutputs instead.
-
-        Sets values for all digital output channels.
-
-        Args:
-            values: The type of action to perform on the channel.
-        """
-        request = dto.StreamSetAllDigitalOutputsRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            values=values,
-        )
-        call("device/stream_set_all_digital_outputs", request)
-
-    async def set_all_digital_outputs_async(
-            self,
-            values: List[DigitalOutputAction]
-    ) -> None:
-        """
-        Deprecated: Use PvtSequence.Io.SetAllDigitalOutputs instead.
-
-        Sets values for all digital output channels.
-
-        Args:
-            values: The type of action to perform on the channel.
-        """
-        request = dto.StreamSetAllDigitalOutputsRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            values=values,
-        )
-        await call_async("device/stream_set_all_digital_outputs", request)
-
-    def set_analog_output(
-            self,
-            channel_number: int,
-            value: float
-    ) -> None:
-        """
-        Deprecated: Use PvtSequence.Io.SetAnalogOutput instead.
-
-        Sets value for the specified analog output channel.
-
-        Args:
-            channel_number: Channel number starting at 1.
-            value: Value to set the output channel voltage to.
-        """
-        request = dto.StreamSetAnalogOutputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            channel_number=channel_number,
-            value=value,
-        )
-        call("device/stream_set_analog_output", request)
-
-    async def set_analog_output_async(
-            self,
-            channel_number: int,
-            value: float
-    ) -> None:
-        """
-        Deprecated: Use PvtSequence.Io.SetAnalogOutput instead.
-
-        Sets value for the specified analog output channel.
-
-        Args:
-            channel_number: Channel number starting at 1.
-            value: Value to set the output channel voltage to.
-        """
-        request = dto.StreamSetAnalogOutputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            channel_number=channel_number,
-            value=value,
-        )
-        await call_async("device/stream_set_analog_output", request)
-
-    def set_all_analog_outputs(
-            self,
-            values: List[float]
-    ) -> None:
-        """
-        Deprecated: Use PvtSequence.Io.SetAllAnalogOutputs instead.
-
-        Sets values for all analog output channels.
-
-        Args:
-            values: Voltage values to set the output channels to.
-        """
-        request = dto.StreamSetAllAnalogOutputsRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            values=values,
-        )
-        call("device/stream_set_all_analog_outputs", request)
-
-    async def set_all_analog_outputs_async(
-            self,
-            values: List[float]
-    ) -> None:
-        """
-        Deprecated: Use PvtSequence.Io.SetAllAnalogOutputs instead.
-
-        Sets values for all analog output channels.
-
-        Args:
-            values: Voltage values to set the output channels to.
-        """
-        request = dto.StreamSetAllAnalogOutputsRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.pvt_id,
-            pvt=True,
-            values=values,
-        )
-        await call_async("device/stream_set_all_analog_outputs", request)

zaber_motion/ascii/servo_tuner.py

@@ -422,10 +422,10 @@ class ServoTuner:
             self,
             paramset: ServoTuningParamset,
             tuning_params: List[ServoTuningParam],
-            load_mass: float,
-            load_mass_units: UnitsAndLiterals = Units.NATIVE,
-            carriage_mass: Optional[float] = None,
-            carriage_mass_units: UnitsAndLiterals = Units.NATIVE,
+            load_inertia: float,
+            load_inertia_units: UnitsAndLiterals = Units.NATIVE,
+            carriage_inertia: Optional[float] = None,
+            carriage_inertia_units: UnitsAndLiterals = Units.NATIVE,
             motor_inertia: Optional[float] = None,
             motor_inertia_units: UnitsAndLiterals = Units.NATIVE
     ) -> None:
@@ -437,14 +437,14 @@ class ServoTuner:
             tuning_params: The params used to tune this device.
                 To get what parameters are expected, call GetSimpleTuningParamList.
                 All values must be between 0 and 1.
-            load_mass: The mass loaded on the stage, excluding the mass of the carriage itself.
-                Unless specified by the LoadMassUnits parameter, this is in units of kg for linear devices,
+            load_inertia: The mass loaded on the stage, excluding the mass of the carriage itself.
+                Unless specified by the LoadInertiaUnits parameter, this is in units of kg for linear devices,
                 and kg⋅m² for rotary devices.
-            load_mass_units: The units the load mass was supplied in.
-            carriage_mass: The mass of the carriage itself. If not supplied, the product's default mass will be used.
-                Unless specified by the CarriageMassUnits parameter, this is in units of kg for linear devices,
+            load_inertia_units: The units the load mass was supplied in.
+            carriage_inertia: The mass of the carriage itself. If not supplied, the product's default mass will be used.
+                Unless specified by the CarriageInertiaUnits parameter, this is in units of kg for linear devices,
                 and kg⋅m² for rotary devices.
-            carriage_mass_units: The units the carriage mass was supplied in.
+            carriage_inertia_units: The units the carriage mass was supplied in.
             motor_inertia: The inertia of the motor. Unless specified by the MotorInertiaUnits parameter,
                 this is in units of kg⋅m².
             motor_inertia_units: The units the motor inertia was supplied in.
@@ -455,10 +455,10 @@ class ServoTuner:
             axis=self.axis.axis_number,
             paramset=paramset,
             tuning_params=tuning_params,
-            load_mass=load_mass,
-            load_mass_units=load_mass_units,
-            carriage_mass=carriage_mass,
-            carriage_mass_units=carriage_mass_units,
+            load_inertia=load_inertia,
+            load_inertia_units=load_inertia_units,
+            carriage_inertia=carriage_inertia,
+            carriage_inertia_units=carriage_inertia_units,
             motor_inertia=motor_inertia,
             motor_inertia_units=motor_inertia_units,
         )
@@ -468,10 +468,10 @@ class ServoTuner:
             self,
             paramset: ServoTuningParamset,
             tuning_params: List[ServoTuningParam],
-            load_mass: float,
-            load_mass_units: UnitsAndLiterals = Units.NATIVE,
-            carriage_mass: Optional[float] = None,
-            carriage_mass_units: UnitsAndLiterals = Units.NATIVE,
+            load_inertia: float,
+            load_inertia_units: UnitsAndLiterals = Units.NATIVE,
+            carriage_inertia: Optional[float] = None,
+            carriage_inertia_units: UnitsAndLiterals = Units.NATIVE,
             motor_inertia: Optional[float] = None,
             motor_inertia_units: UnitsAndLiterals = Units.NATIVE
     ) -> None:
@@ -483,14 +483,14 @@ class ServoTuner:
             tuning_params: The params used to tune this device.
                 To get what parameters are expected, call GetSimpleTuningParamList.
                 All values must be between 0 and 1.
-            load_mass: The mass loaded on the stage, excluding the mass of the carriage itself.
-                Unless specified by the LoadMassUnits parameter, this is in units of kg for linear devices,
+            load_inertia: The mass loaded on the stage, excluding the mass of the carriage itself.
+                Unless specified by the LoadInertiaUnits parameter, this is in units of kg for linear devices,
                 and kg⋅m² for rotary devices.
-            load_mass_units: The units the load mass was supplied in.
-            carriage_mass: The mass of the carriage itself. If not supplied, the product's default mass will be used.
-                Unless specified by the CarriageMassUnits parameter, this is in units of kg for linear devices,
+            load_inertia_units: The units the load mass was supplied in.
+            carriage_inertia: The mass of the carriage itself. If not supplied, the product's default mass will be used.
+                Unless specified by the CarriageInertiaUnits parameter, this is in units of kg for linear devices,
                 and kg⋅m² for rotary devices.
-            carriage_mass_units: The units the carriage mass was supplied in.
+            carriage_inertia_units: The units the carriage mass was supplied in.
             motor_inertia: The inertia of the motor. Unless specified by the MotorInertiaUnits parameter,
                 this is in units of kg⋅m².
             motor_inertia_units: The units the motor inertia was supplied in.
@@ -501,10 +501,10 @@ class ServoTuner:
             axis=self.axis.axis_number,
             paramset=paramset,
             tuning_params=tuning_params,
-            load_mass=load_mass,
-            load_mass_units=load_mass_units,
-            carriage_mass=carriage_mass,
-            carriage_mass_units=carriage_mass_units,
+            load_inertia=load_inertia,
+            load_inertia_units=load_inertia_units,
+            carriage_inertia=carriage_inertia,
+            carriage_inertia_units=carriage_inertia_units,
             motor_inertia=motor_inertia,
             motor_inertia_units=motor_inertia_units,
         )
@@ -559,79 +559,3 @@ class ServoTuner:
             request,
             SimpleTuning.from_binary)
         return response
-
-    def is_using_simple_tuning(
-            self,
-            paramset: ServoTuningParamset,
-            tuning_params: List[ServoTuningParam],
-            load_mass: float,
-            carriage_mass: Optional[float] = None
-    ) -> bool:
-        """
-        Deprecated: Use GetSimpleTuning instead.
-
-        Checks if the provided simple tuning is being stored by this paramset.
-
-        Args:
-            paramset: The paramset to set tuning for.
-            tuning_params: The params used to tune this device.
-                To get what parameters are expected, call GetSimpleTuningParamList.
-                All values must be between 0 and 1.
-            load_mass: The mass loaded on the stage (excluding the mass of the carriage itself) in kg.
-            carriage_mass: The mass of the carriage in kg. If this value is not set the default carriage mass is used.
-
-        Returns:
-            True if the provided simple tuning is currently stored in this paramset.
-        """
-        request = dto.SetSimpleTuning(
-            interface_id=self.axis.device.connection.interface_id,
-            device=self.axis.device.device_address,
-            axis=self.axis.axis_number,
-            paramset=paramset,
-            tuning_params=tuning_params,
-            load_mass=load_mass,
-            carriage_mass=carriage_mass,
-        )
-        response = call(
-            "servotuning/is_using_simple_tuning",
-            request,
-            dto.BoolResponse.from_binary)
-        return response.value
-
-    async def is_using_simple_tuning_async(
-            self,
-            paramset: ServoTuningParamset,
-            tuning_params: List[ServoTuningParam],
-            load_mass: float,
-            carriage_mass: Optional[float] = None
-    ) -> bool:
-        """
-        Deprecated: Use GetSimpleTuning instead.
-
-        Checks if the provided simple tuning is being stored by this paramset.
-
-        Args:
-            paramset: The paramset to set tuning for.
-            tuning_params: The params used to tune this device.
-                To get what parameters are expected, call GetSimpleTuningParamList.
-                All values must be between 0 and 1.
-            load_mass: The mass loaded on the stage (excluding the mass of the carriage itself) in kg.
-            carriage_mass: The mass of the carriage in kg. If this value is not set the default carriage mass is used.
-
-        Returns:
-            True if the provided simple tuning is currently stored in this paramset.
-        """
-        request = dto.SetSimpleTuning(
-            interface_id=self.axis.device.connection.interface_id,
-            device=self.axis.device.device_address,
-            axis=self.axis.axis_number,
-            paramset=paramset,
-            tuning_params=tuning_params,
-            load_mass=load_mass,
-            carriage_mass=carriage_mass,
-        )
-        response = await call_async(
-            "servotuning/is_using_simple_tuning",
-            request,
-            dto.BoolResponse.from_binary)
-        return response.value