| 41,6 → 41,7 |
|---|
| SPEED = 20 |
| DISTANCE = 5000 |
| |
| # Begin of Class Axis -------------------------------------------------- |
| |
| class axis: |
| def __init__(self, SPI_CS, Direction, StepsPerUnit, MaxSpeed): |
| 78,6 → 79,7 |
|---|
| |
| self.Reset() |
| self.Initialize() |
| self.MaxSpeed(self.maxspeed) |
| |
| def Reset(self): |
| 'Reset the Axis' |
| 152,6 → 154,41 |
|---|
| time.sleep(0.3) |
| self.ReleaseSW() |
| |
| def GetStatus(self): |
| #self.spi.xfer([0b11010000]) # Get status command from datasheet - does not work for uknown rasons |
| spi.SPI_write_byte(self.CS, 0x39) # Gotparam command on status register |
| spi.SPI_write_byte(self.CS, 0x00) |
| data = spi.SPI_read_byte() |
| spi.SPI_write_byte(self.CS, 0x00) |
| data = data + spi.SPI_read_byte() |
| |
| 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 GetACC(self): |
| # self.spi.xfer([0x29]) # Gotparam command on status register |
| spi.SPI_write_byte(self.CS, self.L6470_ACC + 0x20) # TODO check register read address seting |
| spi.SPI_write_byte(self.CS, 0x00) |
| data = spi.SPI_read_byte() |
| spi.SPI_write_byte(self.CS, 0x00) |
| data = data + self.spi.readbytes(1) |
| print data # return speed in real units |
| |
| |
| def Move(self, units): |
| ' Move some distance units from current position ' |
| steps = units * self.SPU # translate units to steps |
| 179,8 → 216,8 |
|---|
| def MoveWait(self, units): |
| ' Move some distance units from current position and wait for execution ' |
| self.Move(units) |
| while self.IsBusy(): |
| pass |
| while self.GetStatus()['BUSY']: |
| time.sleep(0.1) |
| |
| def Float(self, hard = False): |
| ' switch H-bridge to High impedance state ' |
| 189,28 → 226,7 |
|---|
| else: |
| spi.SPI_write_byte(self.CS, 0xA8) |
| |
| 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 -------------------------------------------------- |
| |
| |
| 247,7 → 263,7 |
|---|
| |
| print "Axis inicialization" |
| X = axis(spi.I2CSPI_SS0, 0, 1, MaxSpeed = SPEED) # set Number of Steps per axis Unit and set Direction of Rotation |
| X.MaxSpeed(SPEED) # set maximal motor speed |
| X.MaxSpeed(SPEED) # Reset maximal motor speed |
| |
| print "Axis is running" |
| |