Dynamic step resolution added.

actuator.py

@@ -10,12 +10,6 @@ class Actuator():
         self._device_id = None
         self._unit_converter = None
 
-        # one rotation = 200 steps = 360 degrees
-        step_to_degr_conversion_coeff = 360.0/200
-        self._unit_converter = ximc.calibration_t()
-        self._unit_converter.MicrostepMode = ximc.MicrostepMode.MICROSTEP_MODE_FRAC_256
-        self._unit_converter.A = step_to_degr_conversion_coeff
-
     def connect(self):
         self._device_id = ximc.lib.open_device(self._device_uri.encode())
 
@@ -24,6 +18,14 @@ class Actuator():
         else:
             raise RuntimeError("Failed to open device with URI", self._device_uri)
 
+        # One turn = 200 steps = 360 degrees
+        engine_settings = ximc.engine_settings_t()
+        ximc.lib.get_engine_settings(self._device_id, byref(engine_settings))
+        step_to_degr_conversion_coeff = 360.0 / engine_settings.StepsPerRev
+        self._unit_converter = ximc.calibration_t()
+        self._unit_converter.MicrostepMode = ximc.MicrostepMode.MICROSTEP_MODE_FRAC_256
+        self._unit_converter.A = step_to_degr_conversion_coeff
+
     def disconnect(self):
         ximc.lib.close_device(byref(c_int(self._device_id)))