| 24,7 → 24,7 |
|---|
| elif len(sys.argv) == 2: |
| PORT = eval(sys.argv[1]) |
| SPEED = 50 |
| DISTANCE = 5000 |
| DISTANCE = 500 |
| |
| elif len(sys.argv) == 3: |
| SPEED = eval(sys.argv[2]) |
| 73,12 → 73,9 |
|---|
| self.L6470_CONFIG =0x18 |
| self.L6470_STATUS =0x19 |
| |
| self.Reset() |
| self.Initialize() |
| # self.Reset() |
| # self.Initialize() |
| |
| |
| |
| |
| def Reset(self): |
| 'Reset the Axis' |
| self.spi.xfer([0xC0]) # reset |
| 89,9 → 86,10 |
|---|
| # self.spi.xfer( 0xFF) |
| # self.spi.xfer( 0x13) # Over Current Treshold setup |
| # self.spi.xfer( 0xFF) |
| self.spi.xfer([0x15]) # Full Step speed |
| self.spi.xfer([0xFF]) |
| self.spi.xfer([0xFF]) |
| # self.spi.xfer([0x15]) # Full Step speed |
| # self.spi.xfer([0xFF]) |
| # self.spi.xfer([0xFF]) |
| # self.spi.xfer([0xFF]) |
| self.spi.xfer([0x05]) # ACC |
| self.spi.xfer([0x00]) |
| self.spi.xfer([0x10]) |
| 107,7 → 105,7 |
|---|
| # self.spi.xfer([0x18]) # CONFIG |
| # self.spi.xfer([0b00111000]) |
| # self.spi.xfer([0b00000000]) |
| self.MaxSpeed(self.maxspeed) |
| # self.MaxSpeed(self.maxspeed) |
| |
| def MaxSpeed(self, speed): |
| 'Setup of maximum speed in steps/s. The available range is from 15.25 to 15610 step/s with a resolution of 15.25 step/s.' |
| 165,6 → 163,13 |
|---|
| ('HIZ',data[1] & 0x01 == 0x01)]) |
| return status |
| |
| def GetACC(self): |
| # self.spi.xfer([0x29]) # Gotparam command on status register |
| self.spi.xfer([0x2D]) # Gotparam command on status register |
| data = self.spi.readbytes(1) |
| data = data + self.spi.readbytes(1) |
| print data |
| |
| def Move(self, units): |
| ' Move some distance units from current position ' |
| steps = units * self.SPU # translate units to steps |
| 194,8 → 199,10 |
|---|
| self.Move(units) |
| while self.GetStatus()['BUSY']: |
| pass |
| print self.GetStatus() |
| time.sleep(0.8) |
| |
| |
| def Float(self, hard = False): |
| ' switch H-bridge to High impedance state ' |
| if (hard == False): |
| 225,10 → 232,23 |
|---|
| print "Axis inicialization" |
| X = axis(spi, 0, 1, MaxSpeed = SPEED) # set Number of Steps per axis Unit and set Direction of Rotation |
| |
| #X.Reset() |
| |
| X.GetACC() |
| |
| exit() |
| |
| print X.GetStatus() |
| time.sleep(1) |
| |
| print "Setting maximal speed" |
| print X.MaxSpeed(SPEED) # set maximal motor speed |
| print X.GetStatus() |
| time.sleep(1) |
| |
| #print X.Run(1, 200.456431) |
| #time.sleep(10) |
| print X.Run(1, 20.456431) |
| print X.GetStatus() |
| time.sleep(5) |
| |
| print "Axis is running" |
| for i in range(5): |