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Match Sutter MP-285 13-byte position reply (no prefix echo) #81

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Merged
dccote merged 1 commit into from
May 18, 2026
Merged

Match Sutter MP-285 13-byte position reply (no prefix echo) #81

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9 changes: 4 additions & 5 deletions hardwarelibrary/motion/sutterdevice.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,9 +25,9 @@ class SutterDevice(LinearMotionDevice):
replyDataLength=1, unpackingMask='<c'),
"GET_POSITION": DataCommand(name="GET_POSITION", prefix=b'C',
data=pack('<cc', b'C', b'\r'),
replyDataLength=14, unpackingMask='<xlllx',
responseFormat='<clllc',
responseFields=('header', 'x', 'y', 'z', 'terminator')),
replyDataLength=13, unpackingMask='<lllx',
responseFormat='<lllc',
responseFields=('x', 'y', 'z', 'terminator')),
"HOME": DataCommand(name="HOME", prefix=b'H',
data=pack('<cc', b'H', b'\r'),
replyDataLength=1, unpackingMask='<c'),
Expand Down Expand Up @@ -172,8 +172,7 @@ def process_command(self, name, params, endPointIndex):
self.zSteps = params['z']
return b'\r'
elif name == 'GET_POSITION':
return {'header': b'c', 'x': self.xSteps,
'y': self.ySteps, 'z': self.zSteps,
return {'x': self.xSteps, 'y': self.ySteps, 'z': self.zSteps,
'terminator': b'\r'}
elif name == 'HOME':
self.xSteps = self.ySteps = self.zSteps = 0
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4 changes: 2 additions & 2 deletions hardwarelibrary/tests/testSutterSerialPort.py
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Expand Up @@ -56,8 +56,8 @@ def testMoveGet(self):

payload = bytearray('c',encoding='utf-8')
self.port.writeData(payload)
data = self.port.readData(length=1 + 4*3 + 1)
(x,y,z) = unpack("<xlllx", data)
data = self.port.readData(length=4*3 + 1)
(x,y,z) = unpack("<lllx", data)
self.assertTrue( x == 1)
self.assertTrue( y == 2)
self.assertTrue( z == 3)
Expand Down