| 49,40 → 49,40 |
|---|
| |
| def Reset(self): |
| ' Reset Axis and set default parameters for H-bridge ' |
| self.spi.xfer( 0xC0) # reset |
| self.spi.xfer([0xC0]) # reset |
| # self.spi.xfer( 0x14) # Stall Treshold setup |
| # 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( 0x05) # ACC |
| self.spi.xfer( 0x00) |
| self.spi.xfer( 0x10) |
| self.spi.xfer( 0x06) # DEC |
| self.spi.xfer( 0x00) |
| self.spi.xfer( 0x10) |
| self.spi.xfer( 0x0A) # KVAL_RUN |
| self.spi.xfer( 0xFF) |
| self.spi.xfer( 0x0B) # KVAL_ACC |
| self.spi.xfer( 0xFF) |
| self.spi.xfer( 0x0C) # KVAL_DEC |
| self.spi.xfer( 0xFF) |
| self.spi.xfer( 0x18) # CONFIG |
| self.spi.xfer( 0b00111000) |
| self.spi.xfer( 0b00000000) |
| self.spi.xfer([0x15]) # Full Step speed |
| self.spi.xfer([0xFF]) |
| self.spi.xfer([0xFF]) |
| self.spi.xfer([0x05]) # ACC |
| self.spi.xfer([0x00]) |
| self.spi.xfer([0x10]) |
| self.spi.xfer([0x06]) # DEC |
| self.spi.xfer([0x00]) |
| self.spi.xfer([0x10]) |
| self.spi.xfer([0x0A]) # KVAL_RUN |
| self.spi.xfer([0xFF]) |
| self.spi.xfer([0x0B]) # KVAL_ACC |
| self.spi.xfer([0xFF]) |
| self.spi.xfer([0x0C]) # KVAL_DEC |
| self.spi.xfer([0xFF]) |
| self.spi.xfer([0x18]) # CONFIG |
| self.spi.xfer([0b00111000]) |
| self.spi.xfer([0b00000000]) |
| |
| def MaxSpeed(self, speed): |
| ' Setup of maximum speed ' |
| self.spi.xfer( 0x07) # Max Speed setup |
| self.spi.xfer( 0x00) |
| self.spi.xfer( speed) |
| self.spi.xfer([0x07]) # Max Speed setup |
| self.spi.xfer([0x00]) |
| self.spi.xfer([speed]) |
| |
| def ReleaseSW(self): |
| ' Go away from Limit Switch ' |
| while self.ReadStatusBit(2) == 1: # is Limit Switch ON ? |
| self.spi.xfer( 0x92 | (~self.Dir & 1)) # release SW |
| self.spi.xfer([0x92 | (~self.Dir & 1)]) # release SW |
| while self.IsBusy(): |
| pass |
| self.MoveWait(10) # move 10 units away |
| 91,9 → 91,9 |
|---|
| ' Go to Zero position ' |
| self.ReleaseSW() |
| |
| self.spi.xfer( 0x82 | (self.Dir & 1)) # Go to Zero |
| self.spi.xfer( 0x00) |
| self.spi.xfer( speed) |
| self.spi.xfer([0x82 | (self.Dir & 1)]) # Go to Zero |
| self.spi.xfer([0x00]) |
| self.spi.xfer([speed]) |
| while self.IsBusy(): |
| pass |
| time.sleep(0.3) |
| 103,13 → 103,13 |
|---|
| ' Move some distance units from current position ' |
| steps = units * self.SPU # translate units to steps |
| if steps > 0: # look for direction |
| self.spi.xfer( 0x40 | (~self.Dir & 1)) |
| self.spi.xfer([0x40 | (~self.Dir & 1)]) |
| else: |
| self.spi.xfer( 0x40 | (self.Dir & 1)) |
| self.spi.xfer([0x40 | (self.Dir & 1)]) |
| steps = int(abs(steps)) |
| self.spi.xfer( (steps >> 16) & 0xFF) |
| self.spi.xfer( (steps >> 8) & 0xFF) |
| self.spi.xfer( steps & 0xFF) |
| self.spi.xfer([(steps >> 16) & 0xFF]) |
| self.spi.xfer([(steps >> 8) & 0xFF]) |
| self.spi.xfer([steps & 0xFF]) |
| |
| def MoveWait(self, units): |
| ' Move some distance units from current position and wait for execution ' |