feat: add Modbus drivers for Jig, TPU, and RPU

drivers/jig.py

@@ -0,0 +1,40 @@
+import time
+from dataclasses import dataclass
+
+from drivers.modbus_device import ModbusDevice, ModbusDeviceError
+
+
+@dataclass
+class Position:
+    x: int
+    y: int
+    z: int
+
+    def __str__(self):
+        return f"(x={self.x}, y={self.y}, z={self.z})mm"
+
+
+class JigMovementError(ModbusDeviceError):
+    pass
+
+
+class Jig(ModbusDevice):
+    def __init__(self, port, registers, slave_id=0x10):
+        super().__init__(port, "Jig", registers, slave_id=slave_id)
+
+    def move_to_position(self, position, wait_time=5):
+        try:
+            self.write_holding_register(self._addr("X POSITION"), position.x)
+            self.write_holding_register(self._addr("Y POSITION"), position.y)
+            self.write_holding_register(self._addr("Z POSITION"), position.z)
+            self.write_coil(self._addr("MOVE TO POSITION"), True, verify=False)
+            if wait_time > 0:
+                time.sleep(wait_time)
+        except ModbusDeviceError as exc:
+            raise JigMovementError(f"failed to move to {position}") from exc
+
+    def get_current_position(self):
+        x = self.read_holding_register(self._addr("X POSITION"))
+        y = self.read_holding_register(self._addr("Y POSITION"))
+        z = self.read_holding_register(self._addr("Z POSITION"))
+        return Position(x, y, z)