| 7,86 → 7,81 |
|---|
| |
| |
| #uncomment for debbug purposes |
| #import logging |
| #logging.basicConfig(level=logging.DEBUG) |
| import logging |
| logging.basicConfig(level=logging.DEBUG) |
| |
| import sys |
| import time |
| from pymlab import config |
| import spidev # SPI binding |
| import pylirc # infrared receiver binding |
| |
| #### Script Arguments ############################################### |
| |
| if len(sys.argv) == 2: |
| SPEED = eval(sys.argv[1]) |
| |
| #### Script Arguments ############################################### |
| |
| if len(sys.argv) < 2: |
| else: |
| sys.stderr.write("Invalid number of arguments.\n") |
| sys.stderr.write("Usage: %s PORT ADDRESS SPEED MOVE_DISTANCE\n" % (sys.argv[0], )) |
| sys.stderr.write("Usage: %s BASE_SPEED (in steps/s)\n" % (sys.argv[0], )) |
| sys.exit(1) |
| |
| elif len(sys.argv) == 2: |
| PORT = eval(sys.argv[1]) |
| SPEED = 5 |
| DISTANCE = 50 |
| |
| elif len(sys.argv) == 3: |
| SPEED = eval(sys.argv[2]) |
| DISTANCE = 100 |
| |
| elif len(sys.argv) == 4: |
| SPEED = eval(sys.argv[2]) |
| DISTANCE = eval(sys.argv[3]) |
| |
| else: |
| PORT = 0 |
| SPEED = 10 |
| DISTANCE = 50 |
| |
| |
| class axis: |
| def __init__(self, SPI_CS, Direction, StepsPerUnit): |
| def __init__(self, SPI_handler, Direction, StepsPerUnit): |
| ' One axis of robot ' |
| self.CS = SPI_CS |
| self.spi = SPI_handler |
| self.Dir = Direction |
| self.SPU = StepsPerUnit |
| self.Reset() |
| self.Initialize() |
| |
| def Reset(self): |
| ' Reset Axis and set default parameters for H-bridge ' |
| spi.SPI_write_byte(self.CS, 0xC0) # reset |
| # 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, 0x0A) # KVAL_RUN |
| spi.SPI_write_byte(self.CS, 0xFF) |
| spi.SPI_write_byte(self.CS, 0x0B) # KVAL_ACC |
| spi.SPI_write_byte(self.CS, 0xFF) |
| spi.SPI_write_byte(self.CS, 0x0C) # KVAL_DEC |
| spi.SPI_write_byte(self.CS, 0xFF) |
| spi.SPI_write_byte(self.CS, 0x18) # CONFIG |
| spi.SPI_write_byte(self.CS, 0b00111000) |
| spi.SPI_write_byte(self.CS, 0b00000000) |
| 'Reset the Axis' |
| self.spi.xfer([0xC0]) # reset |
| |
| def Initialize(self): |
| 'set default parameters for H-bridge ' |
| # self.spi.xfer( 0x14) # Stall Treshold setup |
| # self.spi.xfer( 0xFF) |
| # self.spi.xfer( 0x13) # Over Current Treshold setup |
| # self.spi.xfer( 0xFF) |
| self.spi.xfer([0x15]) # Full Step speed |
| self.spi.xfer([0xFF]) |
| self.spi.xfer([0xFF]) |
| self.spi.xfer([0x05]) # ACC |
| self.spi.xfer([0x00]) |
| self.spi.xfer([0x10]) |
| self.spi.xfer([0x06]) # DEC |
| self.spi.xfer([0x00]) |
| self.spi.xfer([0x10]) |
| self.spi.xfer([0x0A]) # KVAL_RUN |
| self.spi.xfer([0x50]) |
| self.spi.xfer([0x0B]) # KVAL_ACC |
| self.spi.xfer([0x50]) |
| self.spi.xfer([0x0C]) # KVAL_DEC |
| self.spi.xfer([0x50]) |
| self.spi.xfer([0x18]) # CONFIG |
| self.spi.xfer([0b00111000]) |
| self.spi.xfer([0b00000110]) |
| |
| def MaxSpeed(self, speed): |
| ' Setup of maximum speed ' |
| spi.SPI_write_byte(self.CS, 0x07) # Max Speed setup |
| spi.SPI_write_byte(self.CS, 0x00) |
| spi.SPI_write_byte(self.CS, speed) |
| 'Setup of maximum speed in steps/s' |
| speed_value = int(speed / 15.25) |
| if (speed_value == 0): |
| speed_value = 1 |
| print hex(speed_value) |
| |
| data = [(speed_value >> i & 0xff) for i in (16,8,0)] |
| self.spi.xfer([data[0]]) # Max Speed setup |
| self.spi.xfer([data[1]]) |
| self.spi.xfer([data[2]]) |
| return (speed_value * 15.25) |
| |
| 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(): |
| self.spi.xfer([0x92 | (~self.Dir & 1)]) # release SW |
| while self.GetStatus()['BUSY']: |
| pass |
| self.MoveWait(10) # move 10 units away |
| |
| 93,108 → 88,128 |
|---|
| def GoZero(self, speed): |
| ' Go to Zero position ' |
| self.ReleaseSW() |
| |
| 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(): |
| self.spi.xfer([0x82 | (self.Dir & 1)]) # Go to Zero |
| self.spi.xfer([0x00]) |
| self.spi.xfer([speed]) |
| while self.GetStatus()['BUSY']: |
| pass |
| time.sleep(0.3) |
| self.ReleaseSW() |
| |
| def GetStatus(self): |
| #self.spi.xfer([0b11010000]) # Get status command from datasheet - does not work for uknown rasons |
| self.spi.xfer([0x39]) # Gotparam command on status register |
| data = self.spi.readbytes(1) |
| data = data + self.spi.readbytes(1) |
| |
| 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 |
| |
| 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)) |
| self.spi.xfer([0x40 | (~self.Dir & 1)]) |
| else: |
| spi.SPI_write_byte(self.CS, 0x40 | (self.Dir & 1)) |
| self.spi.xfer([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) |
| self.spi.xfer([(steps >> 16) & 0xFF]) |
| self.spi.xfer([(steps >> 8) & 0xFF]) |
| self.spi.xfer([steps & 0xFF]) |
| |
| def Run(self, direction, speed): |
| speed_value = int(speed / 0.015) |
| print speed_value |
| |
| data = [0b01010000 + direction] |
| data = data +[(speed_value >> i & 0xff) for i in (16,8,0)] |
| self.spi.xfer([data[0]]) # Max Speed setup |
| self.spi.xfer([data[1]]) |
| self.spi.xfer([data[2]]) |
| self.spi.xfer([data[3]]) |
| return (speed_value * 0.015) |
| |
| def MoveWait(self, units): |
| ' Move some distance units from current position and wait for execution ' |
| self.Move(units) |
| while self.IsBusy(): |
| while self.GetStatus()['BUSY']: |
| pass |
| time.sleep(0.8) |
| |
| def Float(self): |
| def Float(self, hard = False): |
| ' switch H-bridge to High impedance state ' |
| spi.SPI_write_byte(self.CS, 0xA0) |
| |
| def ReadStatusBit(self, bit): |
| ' Report given status bit ' |
| spi.SPI_write_byte(self.CS, 0x39) # Read from address 0x19 (STATUS) |
| spi.SPI_write_byte(self.CS, 0x00) |
| data0 = spi.SPI_read_byte() # 1st byte |
| spi.SPI_write_byte(self.CS, 0x00) |
| data1 = spi.SPI_read_byte() # 2nd byte |
| #print hex(data0), hex(data1) |
| if bit > 7: # extract requested bit |
| OutputBit = (data0 >> (bit - 8)) & 1 |
| if (hard == False): |
| self.spi.xfer([0xA0]) |
| else: |
| OutputBit = (data1 >> bit) & 1 |
| return OutputBit |
| self.spi.xfer([0xA8]) |
| |
| |
| def IsBusy(self): |
| """ Return True if tehre are motion """ |
| if self.ReadStatusBit(1) == 1: |
| return False |
| else: |
| return True |
| |
| # End Class axis -------------------------------------------------- |
| |
| print "Clock motor control script started. \r\n" |
| print "Requested speed is: %f steps/s" % SPEED |
| |
| pylirc.init("pylirc", "/home/odroid/conf") |
| |
| cfg = config.Config( |
| i2c = { |
| "port": 1, |
| }, |
| try: |
| print "Configuring SPI.." |
| spi = spidev.SpiDev() # create a spi object |
| spi.open(0, 0) # open spi port 0, device (CS) 0 |
| spi.mode = 0b01 |
| spi.lsbfirst = False |
| spi.bits_per_word = 8 |
| spi.cshigh = False |
| spi.max_speed_hz = 100000 |
| #spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz) |
| time.sleep(1) |
| |
| bus = [ |
| { |
| "name":"spi", |
| "type":"i2cspi", |
| "address": 0x2e, |
| }, |
| ], |
| ) |
| print "Configuring stepper motor.." |
| X = axis(spi, 0, 1) # set Number of Steps per axis Unit and set Direction of Rotation |
| maximum_speed = X.MaxSpeed(200.0) |
| X.GetStatus() |
| |
| print "Motor speed limit is: %f steps/s" % maximum_speed |
| |
| cfg.initialize() |
| print "Waiting for IR command.." |
| while True: # set maximal motor speed |
| key = pylirc.nextcode() ## preccessing the IR remote control commands. |
| |
| print "Stepper motor control test started. \r\n" |
| print "Max motor speed: %d " % SPEED |
| print "Distance to run: %d " % DISTANCE |
| if key == ['start']: |
| real_speed = X.Run(1, SPEED) |
| print "Motor running at: %f steps/s" % real_speed |
| |
| spi = cfg.get_device("spi") |
| if key == ['faster']: |
| real_speed = X.Run(1, SPEED * 1.2) # runnig the motor at 120% of the base motor speed |
| print "Motor running at: %f steps/s" % real_speed |
| |
| spi.route() |
| if key == ['slower']: |
| real_speed = X.Run(1, SPEED * 0.8) |
| print "Motor running at: %f steps/s" % real_speed |
| |
| try: |
| print "SPI configuration.." |
| spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz) |
| time.sleep(1) |
| if key == ['stop']: |
| X.Float(hard=False) # release power |
| print "Stopping the motor." |
| |
| print "Axis inicialization" |
| X = axis(spi.I2CSPI_SS0, 0, 641) # set Number of Steps per axis Unit and set Direction of Rotation |
| X.MaxSpeed(SPEED) # set maximal motor speed |
| except KeyboardInterrupt: |
| print "stop" |
| X.Float(hard=False) # release power |
| sys.exit(0) |
| |
| print "Axis is running" |
| |
| for i in range(5): |
| print i |
| X.MoveWait(DISTANCE) # move forward and wait for motor stop |
| print "Changing direction of rotation.." |
| X.MoveWait(-DISTANCE) # move backward and wait for motor stop |
| print "Changing direction of rotation.." |
| |
| X.Float() # release power |
| |
| |
| finally: |
| print "stop" |
| except Exception, e: |
| X.Float(hard=False) # release power |
| print >> sys.stderr, "Exception: %s" % str(e) |
| sys.exit(1) |