| 8,96 → 8,108 |
|---|
| import time |
| from pymlab import config |
| |
| XSMM = 641 |
| YSMM = 642 |
| ZSMM = 32256 |
| |
| |
| class axis: |
| def __init__(self, SPI_CS, Direction, StepsPerUnit): |
| ' One axis of robot ' |
| def __init__(self, SPI_CS, Direction): |
| """ One axis of robot """ |
| self.CS = SPI_CS |
| self.Dir = Direction |
| self.SPU = StepsPerUnit |
| self.Reset() |
| |
| def Reset(self): |
| ' Reset Axis and set default parameters for H-bridge ' |
| spi.SPI_write(self.CS, 0xC0) # reset |
| spi.SPI_write(self.CS, 0x14) # Stall Treshold setup |
| spi.SPI_write(self.CS, 0x7F) |
| spi.SPI_write(self.CS, 0x14) # Over Current Treshold setup |
| spi.SPI_write(self.CS, 0x0F) |
| #spi.SPI_write(self.CS, 0x15) # Full Step speed |
| #spi.SPI_write(self.CS, 0x00) |
| #spi.SPI_write(self.CS, 0x30) |
| #spi.SPI_write(self.CS, 0x0A) # KVAL_RUN |
| #spi.SPI_write(self.CS, 0x50) |
| """ Reset Axis an set default parameters for H-bridge """ |
| spi.SPI_write(self.CS, [0xC0]) # reset |
| spi.SPI_write(self.CS, [0x14]) # Stall Treshold setup |
| spi.SPI_write(self.CS, [0x7F]) |
| spi.SPI_write(self.CS, [0x14]) # Over Current Treshold setup |
| spi.SPI_write(self.CS, [0x0F]) |
| #spi.SPI_write(self.CS, [0x15]) # Full Step speed |
| #spi.SPI_write(self.CS, [0x00]) |
| #spi.SPI_write(self.CS, [0x30]) |
| #spi.SPI_write(self.CS, [0x0A]) # KVAL_RUN |
| #spi.SPI_write(self.CS, [0x50]) |
| |
| def MaxSpeed(self, speed): |
| ' Setup of maximum speed ' |
| spi.SPI_write(self.CS, 0x07) # Max Speed setup |
| spi.SPI_write(self.CS, 0x00) |
| spi.SPI_write(self.CS, speed) |
| """ Setup of maximum speed """ |
| spi.SPI_write(self.CS, [0x07]) # Max Speed setup |
| spi.SPI_write(self.CS, [0x00]) |
| spi.SPI_write(self.CS, [speed]) |
| |
| def ReleaseSW(self): |
| ' Go away from Limit Switch ' |
| """ Go away from Limit Switch """ |
| while self.ReadStatusBit(2) == 1: # is Limit Switch ON ? |
| spi.SPI_write(self.CS, 0x92 | (~self.Dir & 1)) # release SW |
| spi.SPI_write(self.CS, [0x92 | (~self.Dir & 1)]) # release SW |
| while self.IsBusy(): |
| pass |
| self.MoveWait(10) # move 10 units awey |
| ''' |
| spi.SPI_write(self.CS, 0x40 | (~self.Dir & 1)) # move 0x2000 steps away |
| spi.SPI_write(self.CS, 0x00) |
| spi.SPI_write(self.CS, 0x20) |
| spi.SPI_write(self.CS, 0x00) |
| spi.SPI_write(self.CS, [0x40 | (~self.Dir & 1)]) # move 0x2000 steps away |
| spi.SPI_write(self.CS, [0x00]) |
| spi.SPI_write(self.CS, [0x20]) |
| spi.SPI_write(self.CS, [0x00]) |
| while self.IsBusy(): |
| pass |
| ''' |
| |
| def GoZero(self, speed): |
| ' Go to Zero position ' |
| """ Go to Zero position """ |
| self.ReleaseSW() |
| |
| spi.SPI_write(self.CS, 0x82 | (self.Dir & 1)) # Go to Zero |
| spi.SPI_write(self.CS, 0x00) |
| spi.SPI_write(self.CS, speed) |
| spi.SPI_write(self.CS, [0x82 | (self.Dir & 1)]) # Go to Zero |
| spi.SPI_write(self.CS, [0x00]) |
| spi.SPI_write(self.CS, [speed]) |
| while self.IsBusy(): |
| pass |
| time.sleep(0.3) |
| self.ReleaseSW() |
| |
| def Move(self, units): |
| ' Move some distance units from current position ' |
| steps = units * self.SPU # translate units to steps |
| def Move(self, steps): |
| """ Move some steps from current position """ |
| if steps > 0: # look for direction |
| spi.SPI_write(self.CS, 0x40 | (~self.Dir & 1)) |
| spi.SPI_write(self.CS, [0x40 | (~self.Dir & 1)]) |
| else: |
| spi.SPI_write(self.CS, 0x40 | (self.Dir & 1)) |
| spi.SPI_write(self.CS, [0x40 | (self.Dir & 1)]) |
| steps = int(abs(steps)) |
| spi.SPI_write(self.CS, (steps >> 16) & 0xFF) |
| spi.SPI_write(self.CS, (steps >> 8) & 0xFF) |
| spi.SPI_write(self.CS, steps & 0xFF) |
| spi.SPI_write(self.CS, [(steps >> 16) & 0xFF]) |
| spi.SPI_write(self.CS, [(steps >> 8) & 0xFF]) |
| spi.SPI_write(self.CS, [steps & 0xFF]) |
| |
| def MoveWait(self, units): |
| ' Move some distance units from current position and wait for execution ' |
| self.Move(units) |
| def MoveWait(self, steps): |
| self.Move(steps) |
| while self.IsBusy(): |
| pass |
| |
| def Float(self): |
| ' switch H-bridge to High impedance state ' |
| spi.SPI_write(self.CS, 0xA0) |
| """ switch H-bridge to High impedance state """ |
| spi.SPI_write(self.CS, [0xA0]) |
| |
| def ReadStatusBit(self, bit): |
| ' Report given status bit ' |
| spi.SPI_write(self.CS, 0x39) # Read from address 0x19 (STATUS) |
| spi.SPI_write(self.CS, 0x00) |
| data0 = spi.SPI_read() # 1st byte |
| spi.SPI_write(self.CS, 0x00) |
| data1 = spi.SPI_read() # 2nd byte |
| print hex(data0), hex(data1) |
| if bit > 7: # extract requested bit |
| OutputBit = (data0 >> (bit - 8)) & 1 |
| else: |
| OutputBit = (data1 >> bit) & 1 |
| return OutputBit |
| """ Report given status bit """ |
| 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): |
| 133,49 → 145,49 |
|---|
| spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz) |
| |
| print "Robot inicialization" |
| X = axis(spi.I2CSPI_SS1, 0, 641) |
| Y = axis(spi.I2CSPI_SS0, 1, 642) |
| Z = axis(spi.I2CSPI_SS2, 1, 32256) |
| X = axis(spi.I2CSPI_SS1, 0) |
| Y = axis(spi.I2CSPI_SS0, 1) |
| Z = axis(spi.I2CSPI_SS2, 1) |
| X.MaxSpeed(60) |
| Y.MaxSpeed(60) |
| Z.MaxSpeed(38) |
| |
| Z.GoZero(100) |
| #Y.GoZero(20) |
| Z.Move(100000) |
| X.GoZero(20) |
| Y.GoZero(20) |
| |
| time.sleep(1) |
| |
| X.Move(30) |
| Y.Move(50) |
| Z.MoveWait(58) |
| X.Move(50) |
| |
| X.Move(30*XSMM) |
| Y.Move(50*YSMM) |
| Z.MoveWait(58*ZSMM) |
| X.Move(50*XSMM) |
| |
| print "Robot is running" |
| |
| for y in range(2): |
| for y in range(5): |
| for x in range(5): |
| Z.MoveWait(5) |
| Z.MoveWait(5*ZSMM) |
| time.sleep(1) |
| Z.MoveWait(-5) |
| Z.MoveWait(-5*ZSMM) |
| if x < 4: |
| X.MoveWait(8) |
| Y.MoveWait(8) |
| X.MoveWait(8*XSMM) |
| Y.MoveWait(8*YSMM) |
| for x in range(5): |
| Z.MoveWait(5) |
| Z.MoveWait(5*ZSMM) |
| time.sleep(1) |
| Z.MoveWait(-5) |
| Z.MoveWait(-5*ZSMM) |
| if x < 4: |
| X.MoveWait(-8) |
| Y.MoveWait(8) |
| X.MoveWait(-8*XSMM) |
| Y.MoveWait(8*YSMM) |
| |
| X.Move(-50) |
| Z.MoveWait(-30) |
| X.MoveWait(-20*XSMM) |
| Z.MoveWait(-30*ZSMM) |
| X.Float() |
| Y.Float() |
| Z.Float() |
| |
| |
| |
| ''' |
| while True: |