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					'''
--------------------------------------------------
Writing/Reading Single Commands to/from the LSPone
--------------------------------------------------
'''
import serial
import time

class AMF:
    
    # Initializing the object and establishing a serial connection with the corresponding data format 
    def __init__(self, COM):   
        self.COM = COM
        self.ser = serial.Serial(COM, baudrate=9600, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS)

    # Send a command to the device
    def send_command(self, command, with_trailing_R=True):
        # Wait for any previous response to clear 
        time.sleep(0.05)
        self.ser.read_all()
        
        command_str = f'/1{command}'
        # Append 'R' to the command if specified
        if with_trailing_R:
            command_str += 'R'
        # Append '\r' (carriage return) to the command
        command_str += '\r' 
        # Write the command to the serial port
        self.ser.write(command_str.encode())
        time.sleep(0.05)

#------------------------------------------------#
# To execute a command with a trailing 'R':      #
# send_command("command")                        #
#                                                #
# To execute a command without a trailing 'R':   #
# send_command("command", with_trailing_R=False) #
#------------------------------------------------#

    # Get a response from the device
    def get_response(self):
        response = self.ser.readline().decode().strip()
        return response

#----------------------------------------------#
# Examples on how to send commands to the pump #
#----------------------------------------------#

# Initialize the pump (12 port valve) with the specified COM port
LSPone = AMF('COM4')

# Initialize the plunger drive with medium force and home the valve
LSPone.send_command('Z2')

# Set the peak speed to 250 pulses/sec
LSPone.send_command('V250')

# Move clockwise to valve port 4, trigger a pick-up move of 500 steps, delay the next command execution by 2 seconds, move clockwise to valve port 8 and execute the 500-step dispense
LSPone.send_command('I4P500M2000I8D500')

# Move clockwise to valve port 2, trigger a pick-up move of 1000 steps, move to valve port 9 with the shortest path then repeat the following 5 times: delay the command execution by 1 second before executing a 200-step dispense
LSPone.send_command('I2P1000B9gM1000D200G5')

# Verify the valve port position
LSPone.send_command('?6', with_trailing_R=False)
LSPone.get_response()