#id shorttrack_startup_adjustments_example.py
# Fullmo MovingCap CODE - micropython example.
# original file name: shorttrack_startup_adjustments_example.py

# This demonstrates how to adjust controller parameters that are not stored permanently 
# and need to be set each time the drive is powered up.
# 
# This is a general example that can be used / adapted as follows
# - Open the Kickdrive Object Editor module, create a list of parameters you want to adjust, 
#   write the objects to a drive and test. 
# - If ok, select the relevant parameters in the table (or all), 
#   and use the "Export" button from the Object Editor toolbar
# - From the severa different files created (.xdc, .csv, .cdcf, .txt) choose the .txt and use its contents 
#   to define the PARAMETER_ADJUSTMENTS variable below.
# - Upload the resulting script to the MovingCap drive, choose "Autostart = ON" and press "Store Permanently"
# --> The adjustments will now be applied each time the drive is powered up.
# 

import mcdrive as mc

PARAMETER_ADJUSTMENTS = """
050.3302h.02h,unsigned8,0 # velInp bank1 mode
050.3302h.03h,unsigned8,1 # velLoNoise bank2 mode
050.3304h.03h,unsigned32,500 # velLoNoise bank2 filterFreq
050.3305h.03h,unsigned32,500 # velLoNoise bank2 milliQ
"""

def WriteObjectsFromKickdriveList(kickdriveTxtExportString):
    """
    This function takes a Kickdrive Object Editor text list and sets the parameters

    Parameters:
    kickdriveTxtExportString (str): A string containing KickDrive export data. 
    EEach line represents a CANopen object as comma seperated list  format "ID,Type,Value". 
    IDs contain NodeId, index and subindex in format 050.3401h.03h (for example) 
    Values are in decimal format. Everything after '#' is  a comment / ignored.

    Returns:
    None. The function prints a message for each object written to the drive.
    """
    # Create a list of parameters
    params = [line.split(',') for line in kickdriveTxtExportString.split('\n') if line.strip()]
    # Iterate through each parameter
    for param in params:
        # Skip lines without an ID
        if len(param) < 2:
            continue
        id = param[0].split('.')
        index = int(id[1].rstrip('h'), 16)
        subindex = int(id[2].rstrip('h'), 16)
        value = int(param[2].split('#')[0])
        mc.WriteObject(index, subindex, value)
        print ("Writing object " + hex(index) + "," + hex(subindex) + " = " + str(value))

WriteObjectsFromKickdriveList(PARAMETER_ADJUSTMENTS)