| 0,0 → 1,218 |
|---|
| #!/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(50) |
| #Y.MaxSpeed(50) |
| #Z.MaxSpeed(30) |
| X.MaxSpeed(35) |
| Y.MaxSpeed(35) |
| Z.MaxSpeed(20) |
| |
| Z.GoZero(100) |
| Y.GoZero(20) |
| X.GoZero(20) |
| |
| time.sleep(1) |
| |
| X.Move(16) |
| Y.Move(150) |
| Z.MoveWait(39) |
| time.sleep(1) |
| Z.MoveWait(-5) |
| |
| |
| print "Robot is running" |
| |
| xcorner = 72 |
| xsteps = 9 |
| ysteps = 6 # *2 + 1 line |
| space = 4 |
| grid = 8 |
| delay = 40 |
| |
| #Y.Move(-4) |
| X.MoveWait(xcorner) |
| |
| for y in range(ysteps): |
| for x in range(xsteps): |
| Z.MoveWait(space) |
| time.sleep(delay) |
| Z.MoveWait(-space) |
| if x < (xsteps - 1): |
| X.MoveWait(grid) |
| Y.MoveWait(-grid) |
| delay = delay - 2.5 |
| for x in range(xsteps): |
| Z.MoveWait(space) |
| time.sleep(delay) |
| Z.MoveWait(-space) |
| if x < (xsteps - 1): |
| X.MoveWait(-grid) |
| Y.MoveWait(-grid) |
| delay = delay - 2.5 |
| |
| for x in range(xsteps): |
| Z.MoveWait(space) |
| time.sleep(delay) |
| Z.MoveWait(-space) |
| if x < (xsteps - 1): |
| X.MoveWait(grid) |
| Y.MoveWait(-20) |
| |
| X.MoveWait(-(xcorner+(xsteps-1)*grid)) |
| #Z.MoveWait(-10) |
| Y.MoveWait(ysteps*grid*2+20) |
| X.Float() |
| Y.Float() |
| Z.Float() |
| |
| |
| while True: |
| print X.ReadStatusBit(2) |
| time.sleep(1) |
| |
| finally: |
| print "stop" |