File Coverage

blib/lib/Lab/Instrument/PD11042.pm

Criterion	Covered	Total	%
statement	17	330	5.1
branch	0	86	0.0
condition	0	48	0.0
subroutine	6	23	26.0
pod	1	15	6.6
total	24	502	4.7

package Lab::Instrument::PD11042;
$Lab::Instrument::PD11042::VERSION = '3.880';
#ABSTRACT: Trinamic PD-110-42 low-cost 42mm stepper motor

use v5.20;

use strict;
use Time::HiRes qw/usleep/, qw/time/;
use Lab::Instrument;
use Config;

# todo:
# * test with VISA_RS232
# * integrate the limits etc into the config hash
# * hash call parameters
# * path for ini / log file???
# ...

# Opcodes of all TMCL commands that can be used in direct mode
use constant {
    TMCL_ROR  => 1,
    TMCL_ROL  => 2,
    TMCL_MST  => 3,
    TMCL_MVP  => 4,
    TMCL_SAP  => 5,
    TMCL_GAP  => 6,
    TMCL_STAP => 7,
    TMCL_RSAP => 8,
    TMCL_SGP  => 9,
    TMCL_GGP  => 10,
    TMCL_STGP => 11,
    TMCL_RSGP => 12,
    TMCL_RFS  => 13,
    TMCL_SIO  => 14,
    TMCL_GIO  => 15,
    TMCL_SCO  => 30,
    TMCL_GCO  => 31,
    TMCL_CCO  => 32

        # Options for MVP commandds
    ,
    MVP_ABS   => 0,
    MVP_REL   => 1,
    MVP_COORD => 2

        # Options for RFS command
    ,
    RFS_START  => 0,
    RFS_STOP   => 1,
    RFS_STATUS => 2

        # Result codes for GetResult
    ,
    TMCL_RESULT_OK             => 0,
    TMCL_RESULT_NOT_READY      => 1,
    TMCL_RESULT_CHECKSUM_ERROR => 2

        # axis paramter for SAP and GAP
    ,
    target_position           => 0,
    actual_position           => 1,
    target_speed              => 2,
    actual_speed              => 3,
    maximum_positioning_speed => 4,
    maximum_acceleration      => 5,
    absolut_max_current       => 6,
    standby_current           => 7,
    minimum_speed             => 130,
    ramp_mode                 => 138,
    microstep_resolution      => 140,
    ramp_divisor              => 153,
    puls_divisor              => 154,
    freewheeling              => 204,
    stall_detection_threshold => 211,
    power_down_dely           => 214

        # global parameters
    , user_defined => 2

};

our %limits;
our $RESOLUTION            = 32;
our $GETRIEBEMULTIPLIKATOR = 43;

our @ISA = ("Lab::Instrument");

our %fields = (
    supported_connections => [ 'VISA', 'VISA_RS232', 'RS232', 'DEBUG' ],
    connection_settings   => {
        baudrate  => 9600,
        databits  => 8,
        stopbits  => 1,
        parity    => 'none',
        handshake => 'none',
        termchar  => '\r',
        timeout   => 2,
    },

    device_settings => {
        read_default => 'device',
        pos_mode     => 'ABS',
        speed_max    => 180,
        upper_limit  => 180,
        lower_limit  => -180,
        inipath      => $Config{sitelib} . "/Lab/Instrument/PD11042.ini",
        logpath      => $Config{sitelib} . "/Lab/Instrument/PD11042.log",

    },

    device_cache => {
        position => undef,
        target   => undef,
    },

    device_cache_order => ['id'],
);

sub new {
    my $proto = shift;
    my $class = ref($proto) || $proto;
    my $self  = $class->SUPER::new(@_);
    $self->${ \( __PACKAGE__ . '::_construct' ) }(__PACKAGE__);

    # my $status;
    # termchar is imho disabled by default
    # $status=Lab::VISA::viSetAttribute($self->{vi}->{config}->{RS232}->{vi}->{instr}, $Lab::VISA::VI_ATTR_TERMCHAR_EN, $Lab::VISA::VI_FALSE);
    # if ($status != $Lab::VISA::VI_SUCCESS) { Lab::Exception::CorruptParameter->throw( error =>  "Error while setting termchar enabled: $status");}
    # not sure what the echo setting by default is, let's test
    # $self->{vi}->{config}->{RS232_Echo} = 'OFF';

    # my ($result, $errcode) = $self->exec_cmd(TMCL_GAP, maximum_positioning_speed, 10);
    # print $result."\n";
    # my ($result, $errcode) = $self->exec_cmd(TMCL_GAP, ramp_mode, 0);
    # print $result."\n";
    # my ($result, $errcode) = $self->exec_cmd(TMCL_GAP, microstep_resolution, 5);
    # print $result."\n";
    # my ($result, $errcode) = $self->exec_cmd(TMCL_GAP, absolut_max_current, 745);
    # print $result."\n";
    # my ($result, $errcode) = $self->exec_cmd(TMCL_GAP, standby_current, 1400);
    # print $result."\n";
    # my ($result, $errcode) = $self->exec_cmd(TMCL_GAP, stall_detection_threshold, 2040);
    # print $result."\n";
    # my ($result, $errcode) = $self->exec_cmd(TMCL_GAP, power_down_dely, 0);
    # print $result."\n";
    # my ($result, $errcode) = $self->exec_cmd(TMCL_GAP, ramp_divisor, 7);
    # print $result."\n";
    # my ($result, $errcode) = $self->exec_cmd(TMCL_GAP, puls_divisor, 3);
    # print $result."\n";
    # my ($result, $errcode) = $self->exec_cmd(TMCL_GAP, freewheeling, 100);
    # print $result."\n";
    # exit;

    my ( $result, $errcode );

    # set initial motor parameters (reference point, speed, microstep resolution, etc.
    # 1.) speed:
    $limits{'maximum_positioning_speed'} = 120;
    ( $result, $errcode ) = $self->exec_cmd( TMCL_SAP, target_speed, 0 );
    ( $result, $errcode )
        = $self->exec_cmd( TMCL_SAP, maximum_positioning_speed,
        $self->steps2angle( $limits{'maximum_positioning_speed'} / 2.4 )
        );    #HIER ANSETZEN!!!
    ( $result, $errcode ) = $self->exec_cmd( TMCL_SAP, ramp_mode, 2 );

    # 2.) microstep resolution:
    # 0 = full step (don't use),
    # 1 = half step (don't use),
    # 2 = 4 microsteps,
    # 3 = 8 microsteps,
    # 4 = 16 microsteps,
    # 5 = 32 microsteps,
    # 6 = 64 microsteps
    $RESOLUTION = 32;
    ( $result, $errcode )
        = $self->exec_cmd( TMCL_SAP, microstep_resolution, 5 );

    # 3.) motor current settings:
    ( $result, $errcode )
        = $self->exec_cmd( TMCL_SAP, absolut_max_current, 745 );    # 469 mA
    ( $result, $errcode )
        = $self->exec_cmd( TMCL_SAP, standby_current, 1400 );       # 117 mA
    ( $result, $errcode )
        = $self->exec_cmd( TMCL_SAP, stall_detection_threshold, 2040 );
    ( $result, $errcode ) = $self->exec_cmd( TMCL_SAP, power_down_dely, 0 );
    ( $result, $errcode ) = $self->exec_cmd( TMCL_SAP, ramp_divisor,    7 );
    ( $result, $errcode ) = $self->exec_cmd( TMCL_SAP, puls_divisor,    3 );
    ( $result, $errcode ) = $self->exec_cmd( TMCL_SAP, freewheeling,    100 );

    # ($result, $errcode) = $self->exec_cmd(TMCL_SAP, actual_position, $self->angle2steps(-330));
    # print $self->get_position()."\n";;
    # exit;

    # 4.) restore position
    #$self->exec_cmd(TMCL_RSGP, 0, 0, 2);
    #my ($result, $errcode) = $self->exec_cmd(TMCL_GGP, 0, 0, 2);
    #my ($result2, $errcode) = $self->exec_cmd(TMCL_SAP, target_position, $self->angle2steps(83.59));
    #my ($result2, $errcode) = $self->exec_cmd(TMCL_SAP, actual_position, $self->angle2steps(83.59));
    #exit;

    # 5.) set some reference point and limits for motor movements:
    $self->init_limits();

    return $self;
}

# Execute command: exec_cmd(cmd, type, value, [motor])
sub exec_cmd {
    my $self = shift;

    my $addr  = 1;
    my $cmd   = shift;
    my $type  = shift;
    my $value = shift;
    my $motor = shift;
    if ( not defined $motor ) {
        $motor = 0;
    }

    if ( $value < 0 ) {
        $value = 4244897281 + $value;
    }

    my $v4 = int( $value / 255**3 );
    $v4 = ( $v4 > 255 ) ? 255 : $v4;
    $value -= ( 255**3 ) * $v4;
    my $v3 = int( $value / 255**2 );
    $v3 = ( $v3 > 255 ) ? 255 : $v3;
    $value -= ( 255**2 ) * $v3;
    my $v2 = int( $value / 255 );
    $v2 = ( $v2 > 255 ) ? 255 : $v2;
    $value -= 255 * $v2;

    my $checksum
        = ( $addr + $cmd + $type + $motor + $v4 + $v3 + $v2 + $value ) % 256;

    my $query = pack(
        "C9", $addr, $cmd, $type, $motor, $v4, $v3, $v2, $value,
        $checksum
    );
    my $result  = 0;
    my $errcode = 0;
    my $i       = 0;

    while ( $errcode != 100 && $i < 10 ) {

        #print $addr."-".$cmd."-".$type."-".$motor."-".$v4."-".$v3."-".$v2."-".$value."-".$checksum." (".$i.")\n";
        $self->write($query);
        ( $result, $errcode ) = $self->get_reply();
        $i++;
    }

    return $result, $errcode;
}

sub get_reply {
    my $self = shift;
    my @result;

    foreach ( 1 .. 9 ) {
        my $a = $self->connection()->BrutalRead( read_length => 1 );
        push( @result, unpack( "C", $a ) );
    }

    my $value
        = ( 255**3 ) * $result[4]
        + ( 255**2 ) * $result[5]
        + 255 * $result[6]
        + $result[7];
    if ( $value > 2122448640 ) {
        $value = -( 4244897281 - $value );
    }

    return $value, $result[2];
}

sub move {
    my $self = shift;

    # Parameter, old style: ABS/REL, angle, speed

    my ( $position, $speed, $mode )
        = $self->_check_args( \@_, [ 'position', 'speed', 'mode' ] );

    # TODO:
    # if (ref($mode) eq 'HASH') ...
    # 'mode', 'angle', 'speed'

    if ( not defined $mode ) {
        $mode = $self->device_settings()->{pos_mode};
    }
    if ( not $mode =~ /ABS|abs|REL|rel/ ) {
        Lab::Exception::CorruptParameter->throw( error =>
                "unexpected value for <MODE> in sub move. expected values are ABS and REL."
        );
    }
    if ( not defined $speed ) {
        $speed = $self->device_settings()->{speed_max};
    }
    if ( not defined $position ) {
        Lab::Exception::CorruptParameter->throw(
            error => $self->get_id() . ": No target given in sub move! " );
    }
    elsif (
        not $position =~ /^([+-]?)(?=\d|\.\d)\d*(\.\d*)?([Ee]([+-]?\d+))?$/ )
    {
        Lab::Exception::CorruptParameter->throw( error => $self->get_id()
                . ": Illegal Value given for POSITION in sub move!" );
    }

    # this sets the upper limit for the positioning speed:
    $speed = abs($speed);
    if ( $speed > $self->device_settings()->{speed_max} ) {
        print new Lab::Exception::CorruptParameter( error =>
                "Warning in sub move: <SPEED> = $speed is too high. Reduce <SPEED> to its maximum value defined by internal limit settings of "
                . $self->device_settings()->{speed_max} );
        $speed = $self->device_settings()->{speed_max};
    }

    $speed = $speed / 2.4;
    my ( $result, $errcode )
        = $self->exec_cmd( TMCL_SAP, maximum_positioning_speed, $speed );

    # Moving in ABS or REL mode:
    my $CP = $self->get_position();
    if (   $mode eq "ABS"
        or $mode eq "abs"
        or $mode eq "ABSOLUTE"
        or $mode eq "absolute" ) {
        if (   $position < $self->device_settings()->{lower_limit}
            or $position > $self->device_settings()->{upper_limit} ) {
            Lab::Exception::CorruptParameter->throw( error =>
                    "unexpected value for NEW POSITION in sub move. Expected values are between $limits{'LOWER'} ... $limits{'UPPER'}"
            );
        }
        $self->device_cache()->{target} = $position;
        $self->_save_motorlog( $CP, $position );
        $self->save_motorinitdata();
        $self->exec_cmd( TMCL_MVP, MVP_ABS, $self->angle2steps($position) );
    }
    elsif ($mode eq "REL"
        or $mode eq "rel"
        or $mode eq "RELATIVE"
        or $mode eq "relative" ) {
        if (   $CP + $position < $self->device_settings()->{lower_limit}
            or $CP + $position > $self->device_settings()->{upper_limit} ) {
            Lab::Exception::CorruptParameter->throw( error =>
                    "ERROR in sub move.Can't execute move; TARGET POSITION ("
                    . ( $CP + $position )
                    . ") is out of valid limits ("
                    . $limits{'LOWER'} . " ... "
                    . $limits{'UPPER'}
                    . ")" );
        }

        $self->device_cache()->{target} = $CP + $position;
        $self->_save_motorlog( $CP, $CP + $position );
        $self->save_motorinitdata();

        $self->exec_cmd( TMCL_MVP, MVP_REL, $self->angle2steps($position) );
    }
    return 1;
}

sub active {
    my $self = shift;

    my ( $result, $errcode ) = $self->exec_cmd( TMCL_GAP, actual_speed, 0 );
    $self->get_position();
    return abs($result);

}

sub wait {
    my $self = shift;
    my $flag = 1;
    local $| = 1;

    while ( $self->active() ) {
        if ( $flag <= 1.1 and $flag >= 0.9 ) {
            printf(
                "%s is sweeping (%06.2f)\r",
                $self->get_id(), $self->device_cache()->{position}
            );
        }
        elsif ( $flag <= 0 ) {
            printf(
                "%s is          (%06.2f)\r",
                $self->get_id(), $self->device_cache()->{position}
            );
            $flag = 2;
        }
        $flag -= 0.5;
        usleep(5e3);
    }

    print "\t\t\t\t\t\t\t\t\t\r";
    $| = 0;

    return 1;

}

sub abort {
    my $self = shift;
    $self->exec_cmd( TMCL_MST, 0, 0 );
    print "Motor stoped at " . $self->get_position() . "\n";
    return;
}

sub init_limits {
    my $self = shift;
    my $lowerlimit;
    my $upperlimit;

    if ( $self->read_motorinitdata() ) {
        while (1) {
            print
                "Motor-Init data found. Do you want to keep the reference point and the limits? (y/n) ";
            my $input = <>;
            chomp $input;
            if ( $input =~ /YES|yes|Y|y/ ) {
                return 1;
            }
            elsif ( $input =~ /NO|no|N|n/ ) {
                my ( $result, $errcode )
                    = $self->exec_cmd( TMCL_MST, 0, 0 )
                    ;    # Motor stop, to prevent unexpected motor activity
                ( $result, $errcode )
                    = $self->exec_cmd( TMCL_SAP, target_position, 0 );
                ( $result, $errcode )
                    = $self->exec_cmd( TMCL_SAP, actual_position, 0 );
                $self->device_settings->{lower_limit} = -360;
                $self->device_settings->{upper_limit} = 360;
                last;
            }
        }
    }

    print "\n\n";
    print "----------------------------------------------\n";
    print "----------- Init Motor PDx-110-42 ------------\n";
    print "----------------------------------------------\n";
    print "\n";
    print
        "This procedure will help you to initialize the Motor PDx-110-42 correctly.\n\n";
    print "Steps to go:\n";
    print "  1.) Define the REFERENCE POINT.\n";
    print "  2.) Define the LOWER and UPPER LIMITS for rotation.\n";
    print "  3.) Confirm the LOWER and UPPER LIMITS.\n";
    print "\n\n";

    print "----------------------------\n";
    print "1.) Define the REFERENCE POINT:\n\n";
    print "--> Move the motor position to the REFERENCE POINT.\n";
    print "--> Enter an angle between -180 ... +180 deg.\n";
    print
        "--> Repeat until you have reached the position you want to define as the REFERENCE POINT.\n";
    print
        "--> Enter 'REF' to confirm the actual position as the REFERENCE POINT.\n\n";

    while (1) {
        print "MOVE: ";
        my $value = <STDIN>;
        chomp $value;
        if ( $value eq "REF" or $value eq "ref" ) {

            # set actual position as reference point Zero
            $self->device_cache()->{position} = 0;    # for testing only
            my ( $result, $errcode )
                = $self->exec_cmd( TMCL_MST, 0, 0 )
                ;    # Motor stop, to prevent unexpected motor activity
            ( $result, $errcode )
                = $self->exec_cmd( TMCL_SAP, target_position, 0 );
            ( $result, $errcode )
                = $self->exec_cmd( TMCL_SAP, actual_position, 0 );
            last;
        }
        elsif ( $value =~ /^[+-]?\d+$/ and $value >= -180 and $value <= 180 )
        {
            $self->move( $value, { mode => 'REL' } );
            $self->wait();
        }
        else {
            print
                "Please move the motor position to the REFERENCE POINT. Enter an angle between -188° ... +180°.\n";
        }
    }

    print "----------------------------\n";
    print "2.) Define the LOWER and UPPER LIMITS for rotation:\n\n";
    print "--> Enter LOWER LIMIT\n";
    print "--> Enter UPPER LIMIT\n\n";

    while (1) {
        print "LOWER LIMIT: ";
        my $value = <STDIN>;
        chomp $value;
        $lowerlimit = $value;
        $self->device_settings()->{lower_limit} = $lowerlimit;
        print "UPPER LIMIT: ";
        $value = <STDIN>;
        chomp $value;
        $upperlimit = $value;
        $self->device_settings()->{upper_limit} = $upperlimit;

        if ( $lowerlimit < $upperlimit ) {
            last;
        }
        else {
            print "LOWER LIMIT >= UPPER LIMIT. Try again!\n";
        }
    }

    print "----------------------------\n";
    print "3.) Confirm the LOWER and UPPER LIMITS:\n\n";
    print "--> Motor will move to LOWER LIMIT in steps of 10 deg\n";
    print "--> Motor will move to UPPER LIMIT in steps of 10 deg\n";
    print
        "--> Confirm each step with ENTER or type <STOP> to take the actual position as the limit value. \n\n";

    print "Moving to LOWER LIMIT ...\n";
    while (1) {
        print "MOVE +/-10: Please press <ENTER> to confirm.";
        my $input = <STDIN>;
        chomp $input;
        if ( $input =~ /stop|STOP/ ) {
            $lowerlimit = $self->get_position();
            last;
        }
        if ( abs( $self->get_position() - $lowerlimit ) >= 10 ) {
            if ( $lowerlimit <= 0 ) {
                $self->move( -10, { mode => 'REL' } );
                $self->wait();

            }
            else {
                $self->move( 10, { mode => 'REL' } );
                $self->wait();
            }
        }
        else {
            $self->move( $lowerlimit, { mode => 'ABS' } );
            $self->wait();
            last;
        }

    }
    print "Reached LOWER LIMIT\n";
    print "Please confirm the position of the LOWER LIMIT: ";
    <STDIN>;
    $self->device_settings()->{'lower_limit'} = $lowerlimit;
    print "\n\n";
    print "Moving to REFERENCE POINT ... \n";
    print $self->move( 0, { mode => 'ABS' } ) . "\n";
    $self->wait();
    print "Moving to UPPER LIMIT ...\n";

    while (1) {
        print "MOVE +/-10: Please press <ENTER> to confirm.";
        my $input = <STDIN>;
        chomp $input;
        if ( $input =~ /stop|STOP/ ) {
            $upperlimit = $self->get_position();
            last;
        }
        if ( abs( $upperlimit - $self->get_position() ) >= 10 ) {
            $self->move( 10, { mode => 'REL' } );
            $self->wait();
        }
        else {
            $self->move( $upperlimit, { mode => 'ABS' } );
            $self->wait();

            last;
        }

    }
    print "Reached UPPER LIMIT\n";
    print "Please confirm the position of the UPPER LIMIT: ";
    <STDIN>;
    $self->device_settings()->{'upper_limit'} = $upperlimit;
    print "\n\n";
    $self->save_motorinitdata();

    print "moving to the reference point.\n";
    $self->move( 0, { mode => 'ABS' } );

    $self->wait();
    print "------------------------------------------------------\n";
    print "------------ Motor PDx-110-42 initialized ------------\n";
    print "------------------------------------------------------\n";
    print "\n\n";

}

sub _set_REF {
    my $self    = shift;
    my $new_ref = shift;

    my $old_ref = $self->get_position();

    open( my $handle, ">>", $self->device_settings()->{logpath} )
        or print "cant open logfile\n";

    print "Set actual position from $old_ref to $new_ref\n";
    my ( $result, $errcode ) = $self->exec_cmd( TMCL_SAP, target_position,
        $self->angle2steps($new_ref)
    );
    ( $result, $errcode ) = $self->exec_cmd( TMCL_SAP, actual_position,
        $self->angle2steps($new_ref)
    );
    print {$handle} ( my_timestamp() )
        . "\t set new REF: $old_ref -> $new_ref \n";
    close($handle);

    # this writes the new position to the ini-file.
    $self->get_position();

    return;
}

sub steps2angle {
    my $self  = shift;
    my $steps = shift;
    my $angle = $steps / ( 200 * $RESOLUTION / 360 ) / $GETRIEBEMULTIPLIKATOR;
    return $angle;
}

sub angle2steps {
    my $self  = shift;
    my $angle = shift;
    my $steps = $angle * ( 200 * $RESOLUTION / 360 ) * $GETRIEBEMULTIPLIKATOR;
    return sprintf( "%0.f", $steps );

}

sub get_value {
    my $self = shift;
    my ( $read_mode, $tail ) = $self->_check_args( \@_, ['read_mode'] );

    return $self->get_position( { read_mode => $read_mode } );
}

sub get_position {
    my $self = shift;
    my ($read_mode) = $self->_check_args( \@_, ['read_mode'] );

    if (   not defined $read_mode
        or not $read_mode =~ /device|cache|request|fetch/ ) {
        $read_mode = $self->device_settings()->{read_default};
    }

    if ( $read_mode eq 'cache'
        and defined $self->{'device_cache'}->{'position'} ) {
        return $self->{'device_cache'}->{'position'};
    }

    my ( $result, $errcode )
        = $self->exec_cmd( TMCL_GAP, actual_position, 0 );

    # store position in Global-Parameter 0:
    $self->exec_cmd( TMCL_SGP,  0, $result, 2 );
    $self->exec_cmd( TMCL_STGP, 0, 0,       2 );

    $self->device_cache()->{position} = $self->steps2angle($result);
    $self->save_motorinitdata();
    $self->{value} = $self->device_cache()->{position};
    return $self->device_cache()->{position};

}

sub save_motorinitdata {
    my $self = shift;

    open( DUMP, ">" . $self->device_settings()->{'inipath'} )
        ;    #open for write, overwrite
    print DUMP "POSITION: " . $self->device_cache()->{position} . "\n";
    print DUMP "TARGET: " . $self->device_cache()->{target} . "\n";
    print DUMP "SPEED_MAX: " . $self->device_settings()->{speed_max} . "\n";
    print DUMP "UPPER_LIMIT: "
        . $self->device_settings()->{upper_limit} . "\n";
    print DUMP "LOWER_LIMIT: "
        . $self->device_settings()->{lower_limit} . "\n";
    print DUMP "TIMESTAMP: " . time() . "\n";
    close(DUMP);
}

sub _save_motorlog {
    my $self = shift;
    my ( $init_pos, $end_pos )
        = $self->_check_args( \@_, [ 'init_pos', 'end_pos' ] );

    open( DUMP, ">>" . $self->device_settings()->{'logpath'} )
        ;    #open for write, overwrite

    print DUMP ( my_timestamp() ) . "\t move: $init_pos -> $end_pos \n";

    close(DUMP);
}

sub read_motorinitdata {
    my $self = shift;

    if ( not open( DUMP, "<" . $self->device_settings()->{'inipath'} ) ) {
        return 0;
    }
    while (<DUMP>) {
        chomp($_);
        my @line = split( /: /, $_ );
        if ( $line[0] eq 'POSITION' ) {
            $self->device_cache()->{position} = $line[1];
        }
        elsif ( $line[0] eq 'TARGET' ) {
            $self->device_cache()->{target} = $line[1];
        }
        elsif ( $line[0] eq 'SPEED_MAX' ) {
            $self->device_settings()->{speed_max} = $line[1];
        }
        elsif ( $line[0] eq 'UPPER_LIMIT' ) {
            $self->device_settings()->{upper_limit} = $line[1];
        }
        elsif ( $line[0] eq 'LOWER_LIMIT' ) {
            $self->device_settings()->{lower_limit} = $line[1];
        }

    }

    print "\nread MOTOR-INIT-DATA\n";
    print "--------------------\n";
    print "POSITION: " . $self->device_cache()->{position} . "\n";
    print "TARGET: " . $self->device_cache()->{target} . "\n";
    print "SPEED_MAX: " . $self->device_settings()->{speed_max} . "\n";
    print "UPPER_LIMIT: " . $self->device_settings()->{upper_limit} . "\n";
    print "LOWER_LIMIT: " . $self->device_settings()->{lower_limit} . "\n";

    print "--------------------\n";
    return 1;
}

sub my_timestamp {

    my (
        $Sekunden, $Minuten,   $Stunden,   $Monatstag, $Monat,
        $Jahr,     $Wochentag, $Jahrestag, $Sommerzeit
    ) = localtime(time);

    $Monat     += 1;
    $Jahrestag += 1;
    $Monat     = $Monat < 10     ? $Monat     = "0" . $Monat     : $Monat;
    $Monatstag = $Monatstag < 10 ? $Monatstag = "0" . $Monatstag : $Monatstag;
    $Stunden   = $Stunden < 10   ? $Stunden   = "0" . $Stunden   : $Stunden;
    $Minuten   = $Minuten < 10   ? $Minuten   = "0" . $Minuten   : $Minuten;
    $Sekunden  = $Sekunden < 10  ? $Sekunden  = "0" . $Sekunden  : $Sekunden;
    $Jahr += 1900;

    return "$Stunden:$Minuten:$Sekunden  $Monatstag.$Monat.$Jahr\n";

}

1;

__END__

=pod

=encoding utf-8

=head1 NAME

Lab::Instrument::PD11042 - Trinamic PD-110-42 low-cost 42mm stepper motor

=head1 VERSION

version 3.880

=head1 SYNOPSIS

    use Lab::Instrument::PD11042;

    ...

=head1 DESCRIPTION

The Lab::Instrument::PD11042 class implements an interface to the
Trinamic PD-110-42 low-cost 42mm stepper motor with integrated
controller/driver.

=head1 CONSTRUCTOR

   ...

=head1 METHODS

=head2 ...

  ...

...

=head1 CAVEATS/BUGS

None known so far. :)

=head1 SEE ALSO

=over 4

=item Lab::Instrument

=item
<Lhttp://www.trinamic.com/index.php?option=com_content&view=article&id=243&
Itemid=355>

=back

=head1 COPYRIGHT AND LICENSE

This software is copyright (c) 2023 by the Lab::Measurement team; in detail:

  Copyright 2012       Andreas K. Huettel
            2013       Andreas K. Huettel, Christian Butschkow
            2014       Christian Butschkow
            2016       Simon Reinhardt
            2017       Andreas K. Huettel
            2020       Andreas K. Huettel, Simon Reinhardt


This is free software; you can redistribute it and/or modify it under
the same terms as the Perl 5 programming language system itself.

=cut