0,0 → 1,298 |
#!/usr/bin/python |
# ------------------------------------------- |
# HBSTEP01B Stepper Motor control test code |
# ------------------------------------------- |
# |
# Program uses MLAB Python modules library from https://github.com/MLAB-project/pymlab |
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#uncomment for debbug purposes |
#import logging |
#logging.basicConfig(level=logging.DEBUG) |
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import sys |
import time |
from pymlab import config |
import pylirc # infrared receiver binding |
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#### Script Arguments ############################################### |
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if len(sys.argv) == 2: |
SPEED = eval(sys.argv[1]) |
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else: |
sys.stderr.write("Invalid number of arguments.\n") |
sys.stderr.write("Usage: %s BASE_SPEED (in steps/s)\n" % (sys.argv[0], )) |
sys.exit(1) |
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# Begin of Class Axis -------------------------------------------------- |
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class axis: |
def __init__(self, SPI_CS, Direction, StepsPerUnit, MaxSpeed): |
' One axis of robot ' |
self.CS = SPI_CS |
self.Dir = Direction |
self.SPU = StepsPerUnit |
self.maxspeed = MaxSpeed |
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self.L6470_ABS_POS =0x01 |
self.L6470_EL_POS =0x02 |
self.L6470_MARK =0x03 |
self.L6470_SPEED =0x04 |
self.L6470_ACC =0x05 |
self.L6470_DEC =0x06 |
self.L6470_MAX_SPEED =0x07 |
self.L6470_MIN_SPEED =0x08 |
self.L6470_FS_SPD =0x15 |
self.L6470_KVAL_HOLD =0x09 |
self.L6470_KVAL_RUN =0x0A |
self.L6470_KVAL_ACC =0x0B |
self.L6470_KVAL_DEC =0x0C |
self.L6470_INT_SPEED =0x0D |
self.L6470_ST_SLP =0x0E |
self.L6470_FN_SLP_ACC =0x0F |
self.L6470_FN_SLP_DEC =0x10 |
self.L6470_K_THERM =0x11 |
self.L6470_ADC_OUT =0x12 |
self.L6470_OCD_TH =0x13 |
self.L6470_STALL_TH =0x14 |
self.L6470_STEP_MODE =0x16 |
self.L6470_ALARM_EN =0x17 |
self.L6470_CONFIG =0x18 |
self.L6470_STATUS =0x19 |
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self.Reset() |
self.Initialize() |
self.MaxSpeed(self.maxspeed) |
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def Reset(self): |
'Reset the Axis' |
spi.SPI_write_byte(self.CS, 0xC0) # reset |
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def Initialize(self): |
'set default parameters for H-bridge ' |
# spi.SPI_write_byte(self.CS, 0x14) # Stall Treshold setup |
# spi.SPI_write_byte(self.CS, 0xFF) |
# spi.SPI_write_byte(self.CS, 0x13) # Over Current Treshold setup |
# spi.SPI_write_byte(self.CS, 0xFF) |
spi.SPI_write_byte(self.CS, 0x15) # Full Step speed |
spi.SPI_write_byte(self.CS, 0xFF) |
spi.SPI_write_byte(self.CS, 0xFF) |
spi.SPI_write_byte(self.CS, 0x05) # ACC |
spi.SPI_write_byte(self.CS, 0x00) |
spi.SPI_write_byte(self.CS, 0x10) |
spi.SPI_write_byte(self.CS, 0x06) # DEC |
spi.SPI_write_byte(self.CS, 0x00) |
spi.SPI_write_byte(self.CS, 0x10) |
spi.SPI_write_byte(self.CS, self.L6470_KVAL_RUN) # KVAL_RUN |
spi.SPI_write_byte(self.CS, 0x58) |
spi.SPI_write_byte(self.CS, self.L6470_KVAL_ACC) # KVAL_ACC |
spi.SPI_write_byte(self.CS, 0x58) |
spi.SPI_write_byte(self.CS, self.L6470_KVAL_DEC) # KVAL_DEC |
spi.SPI_write_byte(self.CS, 0x58) |
spi.SPI_write_byte(self.CS, 0x18) # CONFIG |
spi.SPI_write_byte(self.CS, 0b00101110) # spolecny byte pro obe konfigurace |
spi.SPI_write_byte(self.CS, 0b10000000) # konfigurace pro interni oscilator |
# spi.SPI_write_byte(self.CS, 0b10000110) # konfigurace s externim oscilatorem |
self.MaxSpeed(self.maxspeed) |
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def setKVAL(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): |
""" The available range is from 0 to 0.996 x VS with a resolution of 0.004 x VS """ |
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def setOverCurrentTH(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): |
""" The available range is from 375 mA to 6 A, in steps of 375 mA """ |
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def MaxSpeed(self, speed): |
'Setup of maximum speed in steps/s. The available range is from 15.25 to 15610 step/s with a resolution of 15.25 step/s.' |
speed_value = int(speed / 15.25) |
if (speed_value <= 0): |
speed_value = 1 |
elif (speed_value >= 1023): |
speed_value = 1023 |
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data = [(speed_value >> i & 0xff) for i in (8,0)] |
spi.SPI_write_byte(self.CS, self.L6470_MAX_SPEED) # Max Speed setup |
spi.SPI_write_byte(self.CS, data[0]) |
spi.SPI_write_byte(self.CS, data[1]) |
return (speed_value * 15.25) |
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def ReleaseSW(self): |
' Go away from Limit Switch ' |
while self.ReadStatusBit(2) == 1: # is Limit Switch ON ? |
spi.SPI_write_byte(self.CS, 0x92 | (~self.Dir & 1)) # release SW |
while self.IsBusy(): |
pass |
self.MoveWait(10) # move 10 units away |
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def GoZero(self, speed): |
' Go to Zero position ' |
self.ReleaseSW() |
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spi.SPI_write_byte(self.CS, 0x82 | (self.Dir & 1)) # Go to Zero |
spi.SPI_write_byte(self.CS, 0x00) |
spi.SPI_write_byte(self.CS, speed) |
while self.IsBusy(): |
pass |
time.sleep(0.3) |
self.ReleaseSW() |
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def GetStatus(self): |
#self.spi.xfer([0b11010000]) # Get status command from datasheet - does not work for uknown rasons |
spi.SPI_write_byte(self.CS, 0x39) # Gotparam command on status register |
spi.SPI_write_byte(self.CS, 0x00) |
data = [spi.SPI_read_byte()] |
spi.SPI_write_byte(self.CS, 0x00) |
data = data + [spi.SPI_read_byte()] |
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status = dict([('SCK_MOD',data[0] & 0x80 == 0x80), #The SCK_MOD bit is an active high flag indicating that the device is working in Step-clock mode. In this case the step-clock signal should be provided through the STCK input pin. The DIR bit indicates the current motor direction |
('STEP_LOSS_B',data[0] & 0x40 == 0x40), |
('STEP_LOSS_A',data[0] & 0x20 == 0x20), |
('OCD',data[0] & 0x10 == 0x10), |
('TH_SD',data[0] & 0x08 == 0x08), |
('TH_WRN',data[0] & 0x04 == 0x04), |
('UVLO',data[0] & 0x02 == 0x02), |
('WRONG_CMD',data[0] & 0x01 == 0x01), #The NOTPERF_CMD and WRONG_CMD flags are active high and indicate, respectively, that the command received by SPI cannot be performed or does not exist at all. |
('NOTPERF_CMD',data[1] & 0x80 == 0x80), |
('MOT_STATUS',data[1] & 0x60), |
('DIR',data[1] & 0x10 == 0x10), |
('SW_EVN',data[1] & 0x08 == 0x08), |
('SW_F',data[1] & 0x04 == 0x04), #The SW_F flag reports the SW input status (low for open and high for closed). |
('BUSY',data[1] & 0x02 != 0x02), |
('HIZ',data[1] & 0x01 == 0x01)]) |
return status |
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def GetACC(self): |
# self.spi.xfer([0x29]) # Gotparam command on status register |
spi.SPI_write_byte(self.CS, self.L6470_ACC + 0x20) # TODO check register read address seting |
spi.SPI_write_byte(self.CS, 0x00) |
data = spi.SPI_read_byte() |
spi.SPI_write_byte(self.CS, 0x00) |
data = data + [spi.SPI_read_byte()] |
print data # return speed in real units |
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def Move(self, units): |
' Move some distance units from current position ' |
steps = units * self.SPU # translate units to steps |
if steps > 0: # look for direction |
spi.SPI_write_byte(self.CS, 0x40 | (~self.Dir & 1)) |
else: |
spi.SPI_write_byte(self.CS, 0x40 | (self.Dir & 1)) |
steps = int(abs(steps)) |
spi.SPI_write_byte(self.CS, (steps >> 16) & 0xFF) |
spi.SPI_write_byte(self.CS, (steps >> 8) & 0xFF) |
spi.SPI_write_byte(self.CS, steps & 0xFF) |
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def Run(self, direction, speed): |
speed_value = int(speed / 0.015) |
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command = 0b01010000 + int(direction) |
data = [(speed_value >> i & 0xff) for i in (16,8,0)] |
spi.SPI_write_byte(self.CS, command) # Max Speed setup |
spi.SPI_write_byte(self.CS, data[0]) |
spi.SPI_write_byte(self.CS, data[1]) |
spi.SPI_write_byte(self.CS, data[2]) |
return (speed_value * 0.015) |
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def MoveWait(self, units): |
' Move some distance units from current position and wait for execution ' |
self.Move(units) |
while self.GetStatus()['BUSY']: |
time.sleep(0.1) |
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def Float(self, hard = False): |
' switch H-bridge to High impedance state ' |
if (hard == False): |
spi.SPI_write_byte(self.CS, 0xA0) |
else: |
spi.SPI_write_byte(self.CS, 0xA8) |
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# End Class axis -------------------------------------------------- |
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print "Clock motor control script started. \r\n" |
print "Requested speed is: %f steps/s" % SPEED |
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pylirc.init("pylirc", "/home/odroid/conf") |
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cfg = config.Config( |
i2c = { |
"port": 1, |
}, |
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bus = [ |
{ |
"name":"spi", |
"type":"i2cspi", |
"address": 0x2e, |
}, |
], |
) |
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cfg.initialize() |
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spi = cfg.get_device("spi") |
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spi.route() |
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try: |
print "Configuring SPI.." |
spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz) |
time.sleep(0.1) |
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maximum_speed = 2 * SPEED |
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print "Configuring stepper motor.." |
X = axis(spi.I2CSPI_SS0, 0, 1, MaxSpeed = maximum_speed) # set Number of Steps per axis Unit and set Direction of Rotation |
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print "Motor speed limit is: %f steps/s" % maximum_speed |
running = False |
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print "Waiting for IR command.." |
while True: # set maximal motor speed |
key = pylirc.nextcode() ## preccessing the IR remote control commands. |
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if key == ['start']: |
running = True |
direction = True |
requested_speed = SPEED |
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if key == ['faster']: |
running = True |
direction = True |
requested_speed = SPEED * 1.2 # runnig the motor at 120% of the base motor speed |
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if key == ['slower']: |
running = True |
direction = False |
requested_speed = SPEED * 0.8 |
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if key == ['stop']: |
running = False |
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time.sleep(0.1) |
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if running == True: |
real_speed = X.Run(direction, requested_speed) |
print "Motor running at: %f steps/s" % real_speed |
else: |
X.Float(hard=False) # release power |
X.Reset() |
X.Initialize() |
print "Stopping the motor." |
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except KeyboardInterrupt: |
print "stop" |
X.Float(hard=False) # release power |
sys.exit(0) |
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except Exception, e: |
X.Float(hard=False) # release power |
print >> sys.stderr, "Exception: %s" % str(e) |
sys.exit(1) |
Property changes: |
Added: svn:executable |
+* |
\ No newline at end of property |