| 86,20 → 86,32 |
|---|
| |
| def ReadStatusBit(self, bit): |
| """ Report given status bit """ |
| spi.SPI_write(self.CS, [0x39]) # Read from address 0x19 (STATUS) |
| time.sleep(0.2) |
| spi.SPI_write(self.CS, [0x00]) |
| data = spi.SPI_read(1) # 1st byte |
| time.sleep(0.2) |
| spi.SPI_write(self.CS, [0x00]) |
| data.extend(spi.SPI_read(1)) # 2nd byte |
| time.sleep(0.2) |
| if bit > 7: # extract requested bit |
| OutputBit = (data[0] >> (bit - 8)) & 1 |
| else: |
| OutputBit = (data[1] >> bit) & 1 |
| return OutputBit |
| try: |
| spi.SPI_write(self.CS, [0x39]) # Read from address 0x19 (STATUS) |
| spi.SPI_write(self.CS, [0x00]) |
| data = spi.SPI_read(1) # 1st byte |
| spi.SPI_write(self.CS, [0x00]) |
| data.extend(spi.SPI_read(1)) # 2nd byte |
| if bit > 7: # extract requested bit |
| OutputBit = (data[0] >> (bit - 8)) & 1 |
| else: |
| OutputBit = (data[1] >> bit) & 1 |
| return OutputBit |
| except IOError(): ### TODO |
| spi.SPI_write(self.CS, [0x39]) # Read from address 0x19 (STATUS) |
| spi.SPI_write(self.CS, [0x00]) |
| data = spi.SPI_read(1) # 1st byte |
| spi.SPI_write(self.CS, [0x00]) |
| data.extend(spi.SPI_read(1)) # 2nd byte |
| if bit > 7: # extract requested bit |
| OutputBit = (data[0] >> (bit - 8)) & 1 |
| else: |
| OutputBit = (data[1] >> bit) & 1 |
| return OutputBit |
| finally: |
| pass |
| |
| |
| def IsBusy(self): |
| """ Return True if tehre are motion """ |
| if self.ReadStatusBit(1) == 1: |
| 147,26 → 159,30 |
|---|
| |
| time.sleep(1) |
| |
| X.Move(30*XSMM) |
| Y.Move(50*YSMM) |
| Z.MoveWait(58*ZSMM) |
| X.Move(50*XSMM) |
| Y.Move(50*YSMM) |
| Z.MoveWait(50*ZSMM) |
| |
| print "Robot is running" |
| |
| for y in range(5): |
| for x in range(5): |
| Z.MoveWait(8*ZSMM) |
| Z.MoveWait(5*ZSMM) |
| time.sleep(1) |
| Z.MoveWait(-8*ZSMM) |
| X.MoveWait(8*XSMM) |
| Z.MoveWait(-5*ZSMM) |
| if x < 4: |
| X.MoveWait(8*XSMM) |
| Y.MoveWait(8*YSMM) |
| for x in range(5): |
| Z.MoveWait(8*ZSMM) |
| Z.MoveWait(5*ZSMM) |
| time.sleep(1) |
| Z.MoveWait(-8*ZSMM) |
| X.MoveWait(-8*XSMM) |
| Z.MoveWait(-5*ZSMM) |
| if x < 4: |
| X.MoveWait(-8*XSMM) |
| Y.MoveWait(8*YSMM) |
| |
| X.MoveWait(-20*XSMM) |
| Z.MoveWait(-30*ZSMM) |
| X.Float() |
| Y.Float() |