Adds "secure" and "set_plate_lock" methods.

asitiger/command.py

@@ -14,6 +14,7 @@ class Command:
     MOVE = "M"
     MOVREL = "R"
     RDSTAT = "RS"
+    SECURE = "SECURE"
     SETHOME = "HM"
     SPEED = "S"
     STATUS = "/"

asitiger/secure.py

@@ -0,0 +1,14 @@
+from enum import Enum
+from typing import Union
+
+
+class SecurePosition(Enum):
+    LOCKED = 0
+    UNLOCKED = 1
+
+    @classmethod
+    def resolve_value(cls, position: Union["SecurePosition", int, float]):
+        if isinstance(position, cls):
+            return position.value
+
+        return position

asitiger/tigercontroller.py

@@ -5,6 +5,7 @@
 from asitiger.axis import Axis
 from asitiger.command import Command
 from asitiger.errors import Errors
+from asitiger.secure import SecurePosition
 from asitiger.serialconnection import SerialConnection
 from asitiger.status import AxisStatus, Status, statuses_for_rdstat
 
@@ -73,6 +74,13 @@ def enable_axes(self, axes: List[str]):
     def disable_axes(self, axes: List[str]):
         self.motor_control({axis: "-" for axis in axes})
 
+    def set_plate_lock(
+        self, position: Union[SecurePosition, float], card_address: int = None
+    ):
+        return self.secure(
+            {"X": SecurePosition.resolve_value(position)}, card_address=card_address
+        )
+
     # The methods below map directly onto the Tiger serial API methods
 
     def build(self, card_address: int = None) -> List[str]:
@@ -112,6 +120,13 @@ def rdstat(self, axes: List[str]) -> List[Union[AxisStatus, Status]]:
         response = self.send_command(f"{Command.RDSTAT} {' '.join(axes)}")
         return statuses_for_rdstat(response)
 
+    def secure(
+        self, settings: Dict[str, Union[int, float, str]], card_address: int = None,
+    ):
+        self.send_command(
+            Command.format(Command.SECURE, settings, card_address=card_address)
+        )
+
     def set_home(self, axes: Dict[str, Union[str, int]]) -> str:
         return self.send_command(
             Command.format(Command.SETHOME, coordinates=axes, flag_overrides=["+"])