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/Modules/H_Bridge/HBSTEP01B/SW/I2CSPI_HBSTEP_SX17_test.py
0,0 → 1,200
#!/usr/bin/python
# -------------------------------------------
# HBSTEP01B Stepper Motor control test code
# -------------------------------------------
#
# Program uses MLAB Python modules library from https://github.com/MLAB-project/pymlab
 
 
#uncomment for debbug purposes
#import logging
#logging.basicConfig(level=logging.DEBUG)
 
import sys
import time
from pymlab import config
 
 
 
#### Script Arguments ###############################################
 
if len(sys.argv) < 2:
sys.stderr.write("Invalid number of arguments.\n")
sys.stderr.write("Usage: %s PORT ADDRESS SPEED MOVE_DISTANCE\n" % (sys.argv[0], ))
sys.exit(1)
 
elif len(sys.argv) == 2:
PORT = eval(sys.argv[1])
SPEED = 10
DISTANCE = 100
 
elif len(sys.argv) == 3:
SPEED = eval(sys.argv[2])
DISTANCE = 100
 
elif len(sys.argv) == 4:
SPEED = eval(sys.argv[2])
DISTANCE = eval(sys.argv[3])
 
else:
PORT = 0
SPEED = 10
DISTANCE = 50
 
 
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, 0xFF)
# spi.SPI_write_byte(self.CS, 0x13) # Over Current Treshold setup
# spi.SPI_write_byte(self.CS, 0xFF)
spi.SPI_write_byte(self.CS, 0x15) # Full Step speed
spi.SPI_write_byte(self.CS, 0xFF)
spi.SPI_write_byte(self.CS, 0xFF)
spi.SPI_write_byte(self.CS, 0x05) # ACC
spi.SPI_write_byte(self.CS, 0x00)
spi.SPI_write_byte(self.CS, 0x10)
spi.SPI_write_byte(self.CS, 0x06) # DEC
spi.SPI_write_byte(self.CS, 0x00)
spi.SPI_write_byte(self.CS, 0x10)
spi.SPI_write_byte(self.CS, 0x0A) # KVAL_RUN
spi.SPI_write_byte(self.CS, 0x1F)
spi.SPI_write_byte(self.CS, 0x0B) # KVAL_ACC
spi.SPI_write_byte(self.CS, 0x1F)
spi.SPI_write_byte(self.CS, 0x0C) # KVAL_DEC
spi.SPI_write_byte(self.CS, 0x1F)
# spi.SPI_write_byte(self.CS, 0x18) # CONFIG
# spi.SPI_write_byte(self.CS, 0b00111000)
# spi.SPI_write_byte(self.CS, 0b00000000)
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 = [
{
"name":"spi",
"type":"i2cspi",
"address": 0x2e,
},
],
)
 
 
cfg.initialize()
 
print "Stepper motor control test started. \r\n"
print "Max motor speed: %d " % SPEED
print "Distance to run: %d " % DISTANCE
 
spi = cfg.get_device("spi")
 
spi.route()
 
try:
print "SPI configuration.."
spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz)
time.sleep(1)
 
print "Axis inicialization"
X = axis(spi.I2CSPI_SS0, 0, 641) # set Number of Steps per axis Unit and set Direction of Rotation
X.MaxSpeed(SPEED) # set maximal motor speed
 
print "Axis is running"
 
for i in range(5):
print i
X.MoveWait(DISTANCE) # move forward and wait for motor stop
print "Changing direction of rotation.."
X.MoveWait(-DISTANCE) # move backward and wait for motor stop
print "Changing direction of rotation.."
 
X.Float() # release power
 
 
finally:
print "stop"
Property changes:
Added: svn:executable
+*
\ No newline at end of property