import time

 

from pwi4_client import PWI4

 

pwi4 = PWI4()

 

def main():

    connect_to_mount()

    enable_motors()

    find_home()

 

def connect_to_mount():

    print("Connecting to mount...")

    pwi4.mount_connect()

    while not pwi4.status().mount.is_connected:

        time.sleep(1)

    print("Done")

 

def enable_motors():

    print("Enabling motors")

    pwi4.mount_enable(0)

    pwi4.mount_enable(1)

    while True:

        status = pwi4.status()

        if status.mount.axis0.is_enabled and status.mount.axis1.is_enabled:

            break

        time.sleep(1)

    print("Done")

 

def find_home():

    print("Finding home")

    pwi4.mount_find_home()

    last_axis0_pos_degs = -99999

    last_axis1_pos_degs = -99999

    while True:

        status = pwi4.status()

        delta_axis0_pos_degs = status.mount.axis0.position_degs - last_axis0_pos_degs

        delta_axis1_pos_degs = status.mount.axis1.position_degs - last_axis1_pos_degs

 

        if abs(delta_axis0_pos_degs) < 0.001 and abs(delta_axis1_pos_degs) < 0.001:

            break

 

        last_axis0_pos_degs = status.mount.axis0.position_degs

        last_axis1_pos_degs = status.mount.axis1.position_degs

 

        time.sleep(1)

    print("Done")

 

if __name__ == "__main__":

    main()