#id jogWithLifetime.py 2025-10-23 oh
# Fullmo MovingCap CODE - micropython example.
# original file name: refGoExtensionExampleJogWithLifetime.py
# requires turnTRACK firmware v50.00.10.00_RE higher

# This example shows how to extend the original XENAX protocol commands 
# JP (Jog Positive) and JN (Jog Negative) with an integer argument that 
# specifies a lifetime in milliseconds. When the lifetime expires, and
# no additional JP or JP commands were received, the drive will stop (SM / Stop Motion)
# 
# NOTE: For future firmware versions it is planned to add the lifetime argument to the 
# standard REFGO command set, so this script will become obsolete. 
#
# NOTE: In earlier firmware versions (v50.00.09.xx and lower) the 
# functionality was split between the mccom and refgo libraries. 
# Now refgo is the one library to include and use.

import sys
import refgo

refgo.open("refgo", 0)
cmd = ""
lifetimeEnabled = False
endOfLife = 0 
lifetime = 0
while (1): 
	cmd = refgo.read(0, 0)
	if cmd is not None:
		if (cmd.upper().startswith("JP") or cmd.upper().startswith("JN")):
			# check for an optional integer number > 0 after the "JP" text, e.g. the full command could be "JP500"
			strArgument = cmd.lstrip('JPN') # extract lifetime from command, if present
			if (strArgument.isdigit()):
				lifetime = int(strArgument)
				if lifetime > 0:
					lifetimeEnabled = True
					endOfLife = sys.time() + lifetime  # calculate end of life time in milliseconds
	if lifetimeEnabled and (sys.time() - endOfLife) > 0:  # if lifetime has expired, stop motion
		lifetimeEnabled = False
		answ = refgo.cmd("SM")
	# no need to run this faster than in a 5ms cycle
	sys.wait(5)