| 18,46 → 18,38 |
|---|
| |
| 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) |
| 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(self.CS, 0x07) # Max Speed setup |
| spi.SPI_write(self.CS, 0x00) |
| spi.SPI_write(self.CS, 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(self.CS, 0x92 | (~self.Dir & 1)) # release SW |
| spi.SPI_write_byte(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) |
| while self.IsBusy(): |
| pass |
| ''' |
| self.MoveWait(10) # move 10 units away |
| |
| def GoZero(self, speed): |
| ' 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_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) |
| 67,13 → 59,13 |
|---|
| ' Move some distance units from current position ' |
| steps = units * self.SPU # translate units to steps |
| if steps > 0: # look for direction |
| spi.SPI_write(self.CS, 0x40 | (~self.Dir & 1)) |
| spi.SPI_write_byte(self.CS, 0x40 | (~self.Dir & 1)) |
| else: |
| spi.SPI_write(self.CS, 0x40 | (self.Dir & 1)) |
| spi.SPI_write_byte(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_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 ' |
| 83,16 → 75,16 |
|---|
| |
| def Float(self): |
| ' switch H-bridge to High impedance state ' |
| spi.SPI_write(self.CS, 0xA0) |
| spi.SPI_write_byte(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) |
| 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: |
| 107,17 → 99,31 |
|---|
| else: |
| return True |
| |
| # End Class axis -------------------------------------------------- |
| |
| |
| |
| |
| |
| cfg = config.Config( |
| i2c = { |
| "port": 8, |
| "port": 1, |
| }, |
| |
| bus = [ |
| { "name":"spi", "type":"i2cspi"}, |
| bus = |
| [ |
| { |
| "type": "i2chub", |
| "address": 0x70, |
| "children": |
| [ |
| { "name":"spi", "type":"i2cspi", "channel":7} |
| ], |
| }, |
| ], |
| ) |
| |
| |
| cfg.initialize() |
| |
| print "Irradiation unit. \r\n" |
| 124,6 → 130,7 |
|---|
| |
| spi = cfg.get_device("spi") |
| |
| spi.route() |
| |
| |
| try: |
| 136,12 → 143,13 |
|---|
| 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) |
| Y.GoZero(20) |
| X.GoZero(20) |
| |
| time.sleep(1) |