Problem with comparison.
/Designs/ROBOTS/IRRAD01A/SW/irrad.py |
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0,0 → 1,195 |
#!/usr/bin/python |
#uncomment for debbug purposes |
#import logging |
#logging.basicConfig(level=logging.DEBUG) |
import sys |
import time |
from pymlab import config |
class axis: |
def __init__(self, SPI_CS, Direction, StepsPerUnit): |
' 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_byte(self.CS, 0xC0) # reset |
spi.SPI_write_byte(self.CS, 0x14) # Stall Treshold setup |
spi.SPI_write_byte(self.CS, 0x7F) |
spi.SPI_write_byte(self.CS, 0x14) # Over Current Treshold setup |
spi.SPI_write_byte(self.CS, 0x0F) |
#spi.SPI_write_byte(self.CS, 0x15) # Full Step speed |
#spi.SPI_write_byte(self.CS, 0x00) |
#spi.SPI_write_byte(self.CS, 0x30) |
#spi.SPI_write_byte(self.CS, 0x0A) # KVAL_RUN |
#spi.SPI_write_byte(self.CS, 0x50) |
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) |
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 |
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(): |
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 |
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) |
def MoveWait(self, units): |
' Move some distance units from current position and wait for execution ' |
self.Move(units) |
while self.IsBusy(): |
pass |
def Float(self): |
' 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 |
else: |
OutputBit = (data1 >> bit) & 1 |
return OutputBit |
def IsBusy(self): |
""" Return True if tehre are motion """ |
if self.ReadStatusBit(1) == 1: |
return False |
else: |
return True |
# End Class axis -------------------------------------------------- |
cfg = config.Config( |
i2c = { |
"port": 1, |
}, |
bus = |
[ |
{ |
"type": "i2chub", |
"address": 0x70, |
"children": |
[ |
{ "name":"spi", "type":"i2cspi", "channel":7} |
], |
}, |
], |
) |
cfg.initialize() |
print "Irradiation unit. \r\n" |
spi = cfg.get_device("spi") |
spi.route() |
try: |
while True: |
print "SPI configuration.." |
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.MaxSpeed(60) |
Y.MaxSpeed(60) |
Z.MaxSpeed(38) |
Z.GoZero(100) |
Y.GoZero(20) |
X.GoZero(20) |
time.sleep(1) |
X.Move(30) |
Y.Move(50) |
Z.MoveWait(58) |
X.Move(50) |
print "Robot is running" |
for y in range(2): |
for x in range(5): |
Z.MoveWait(5) |
time.sleep(1) |
Z.MoveWait(-5) |
if x < 4: |
X.MoveWait(8) |
Y.MoveWait(8) |
for x in range(5): |
Z.MoveWait(5) |
time.sleep(1) |
Z.MoveWait(-5) |
if x < 4: |
X.MoveWait(-8) |
Y.MoveWait(8) |
X.Move(-50) |
Z.MoveWait(-30) |
X.Float() |
Y.Float() |
Z.Float() |
''' |
while True: |
print X.ReadStatusBit(2) |
time.sleep(1) |
''' |
finally: |
print "stop" |
Property changes: |
Added: svn:executable |
+* |
\ No newline at end of property |