Instruction file imported from KickdriveOliver/movingcap-code-suite (.github/instructions/movingcap-scripts.instructions.md). Copyright stays with the author.

MovingCap CODE (MicroPython) Script Rules

Files in app-scripts/ are MovingCap CODE MicroPython scripts that run on a MovingCap Ethernet ETH servo drive — not desktop Python. Always treat "Python" here as drive-side MicroPython. (Host-side tooling in testing/ is ordinary CPython and is NOT covered by these rules.)

Allowed APIs only

• Use ONLY modules, functions, and patterns documented in skills/movingcap-code-python-writer/SKILL.md and the app-scripts/*.pyi stubs, movingcap.de docs, or the explicitly validated MicroPython modules and methods listed below.
• Do NOT invent function names, arguments, return values, or side effects.
• Do NOT assume desktop-Python or standard-library modules are available unless the MovingCap docs explicitly show them.

Syntax & style constraints

• Do NOT use f-strings — they are unavailable. Build strings with concatenation: 'pos=' + str(pos).
• Prefer time.sleep_ms(ms) over the legacy sys.wait(ms).
• Keep scripts small, conservative, and matched to the drive's documented capabilities.

Motion & IO safety

• Wait for motion completion with mc.ChkReady() and check mc.ChkError() before continuing. Prefer a bounded wait (timeout) over an infinite loop so faults are handled.
• Use a clean enable/disable sequence (mc.EnableDrive() … mc.PowerQuit()).
• Do not assume speed, acceleration, current, or direction settings unless the spec gives them.
• Add a comment whenever a line can move the axis, power the drive, or switch an output.

Common references

• mc.GoPosAbs(x) / mc.GoPosRel(x) — absolute / relative move.
• mc.GoHome(method, vel, acc, offset) — homing; method 35/37 sets current pos as zero.
• mc.ChkIn(x) — read digital input x; mc.SetOut(x) / mc.ClearOut(x) — set/reset output x.
• mc.GetActualPos() — current position; mc.ReadObject(i, s) / mc.WriteObject(i, s, v) — numeric CANopen objects. Free user objects live at 340Bh–3410h (sub 01h–0Ah).

Micropython options enabled / modules available

The following non-default features are explicitly enabled in the MovingCap CODE MicroPython build. This is not an exhaustive inventory of core language builtins such as list, dict, tuple, bytes, and range. Do not assume other optional standard-library modules are available unless the MovingCap docs or stubs explicitly list them.

// MovingCap CODE - Micropython options enabled
// MovingCap firmware v50.00.12.00 (MC349) or higher
#define MICROPY_ENABLE_GC           (1)
#define MICROPY_ENABLE_SOURCE_LINE  (1)
#define MICROPY_PY_BUILTINS_SLICE   (1)
#define MICROPY_PY_MICROPYTHON_MEM_INFO (1)
#define MICROPY_PY_GC               (1)
#define MICROPY_PY_COLLECTIONS      (1)
#define MICROPY_PY_STRUCT           (1)
#define MICROPY_PY_ARRAY            (1)
#define MICROPY_CPYTHON_COMPAT      (1)
#define MICROPY_PY_BUILTINS_STR_OP_MODULO   (1)
#define MICROPY_PY_BUILTINS_STR_COUNT       (1)
#define MICROPY_PY_UTIME_MP_HAL (1)
#define MICROPY_PY_UBINASCII (1)
#define MICROPY_PY_BUILTINS_STR_SPLITLINES (1)
#define MICROPY_PY_BUILTINS_STR_PARTITION (1)

Validated import names and operations

The following string methods are explicitly available for both the port's 8-bit str configuration and bytes where supported by MicroPython 1.9.4:

• str.count() and % formatting
• str.splitlines(keepends=False)
• str.partition(separator) and str.rpartition(separator)

array supplies writable storage for struct.pack_into() even though bytearray and memoryview are disabled. In this MicroPython 1.9.4 implementation, array.extend() requires an object that provides the buffer protocol; use another compatible array, not a plain list.

Important restrictions

#define MICROPY_PY_BUILTINS_STR_UNICODE (0)
#define MICROPY_LONGINT_IMPL        (MICROPY_LONGINT_IMPL_MPZ)
#define MICROPY_FLOAT_IMPL          (MICROPY_FLOAT_IMPL_NONE)
#define MICROPY_PY_MATH             (0)
#define MICROPY_PY_CMATH            (0)
#define MICROPY_PY_BUILTINS_COMPLEX (0)
#define MICROPY_PY_BUILTINS_BYTEARRAY (0)
#define MICROPY_PY_BUILTINS_MEMORYVIEW (0)
#define MICROPY_PY_BUILTINS_SET     (0)
#define MICROPY_PY_BUILTINS_FROZENSET (0)
#define MICROPY_PY_BUILTINS_PROPERTY (0)
#define MICROPY_PY_ASYNC_AWAIT      (0)
#define MICROPY_PY_IO               (0)
#define MICROPY_PY___FILE__         (0)

Consequences:

• Strings are 8-bit strings, not full Unicode strings. Treat protocol/binary data as bytes where practical.
• Floating-point literals and the math/cmath modules are unavailable; use integer or fixed-point calculations.
• Do not generate examples using bytearray, memoryview, sets, properties, async/await, io, or __file__.