Problem with comparison.
/Modules/H_Bridge/HBSTEP01B/SW/DIRECT_SPI_HBSTEP_test.py |
---|
0,0 → 1,266 |
#!/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 |
import spidev |
#### 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 = 50 |
DISTANCE = 500 |
elif len(sys.argv) == 3: |
SPEED = eval(sys.argv[2]) |
DISTANCE = 1000 |
elif len(sys.argv) == 4: |
SPEED = eval(sys.argv[2]) |
DISTANCE = eval(sys.argv[3]) |
else: |
PORT = 0 |
SPEED = 20 |
DISTANCE = 5000 |
class axis: |
def __init__(self, SPI_handler, Direction, StepsPerUnit, MaxSpeed): |
' One axis of robot ' |
self.spi = SPI_handler |
self.Dir = Direction |
self.SPU = StepsPerUnit |
self.maxspeed = MaxSpeed |
self.L6470_ABS_POS =0x01 |
self.L6470_EL_POS =0x02 |
self.L6470_MARK =0x03 |
self.L6470_SPEED =0x04 |
self.L6470_ACC =0x05 |
self.L6470_DEC =0x06 |
self.L6470_MAX_SPEED =0x07 |
self.L6470_MIN_SPEED =0x08 |
self.L6470_FS_SPD =0x15 |
self.L6470_KVAL_HOLD =0x09 |
self.L6470_KVAL_RUN =0x0A |
self.L6470_KVAL_ACC =0x0B |
self.L6470_KVAL_DEC =0x0C |
self.L6470_INT_SPEED =0x0D |
self.L6470_ST_SLP =0x0E |
self.L6470_FN_SLP_ACC =0x0F |
self.L6470_FN_SLP_DEC =0x10 |
self.L6470_K_THERM =0x11 |
self.L6470_ADC_OUT =0x12 |
self.L6470_OCD_TH =0x13 |
self.L6470_STALL_TH =0x14 |
self.L6470_STEP_MODE =0x16 |
self.L6470_ALARM_EN =0x17 |
self.L6470_CONFIG =0x18 |
self.L6470_STATUS =0x19 |
# self.Reset() |
# self.Initialize() |
def Reset(self): |
'Reset the Axis' |
self.spi.xfer([0xC0]) # reset |
def Initialize(self): |
'set default parameters for H-bridge ' |
# 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([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([self.L6470_KVAL_RUN]) # KVAL_RUN |
self.spi.xfer([0x50]) |
self.spi.xfer([self.L6470_KVAL_ACC]) # KVAL_ACC |
self.spi.xfer([0x50]) |
self.spi.xfer([self.L6470_KVAL_DEC]) # KVAL_DEC |
self.spi.xfer([0x50]) |
# self.spi.xfer([0x18]) # CONFIG |
# self.spi.xfer([0b00111000]) |
# self.spi.xfer([0b00000000]) |
# 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.' |
speed_value = int(speed / 15.25) |
if (speed_value <= 0): |
speed_value = 1 |
elif (speed_value >= 1023): |
speed_value = 1023 |
data = [(speed_value >> i & 0xff) for i in (8,0)] |
self.spi.xfer([self.L6470_MAX_SPEED]) # Max Speed setup |
self.spi.xfer([data[0]]) |
self.spi.xfer([data[1]]) |
return (speed_value * 15.25) |
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 |
while self.GetStatus()['BUSY']: |
pass |
self.MoveWait(10) # move 10 units away |
def GoZero(self, speed): |
' Go to Zero position ' |
self.ReleaseSW() |
self.spi.xfer([0x82 | (self.Dir & 1)]) # Go to Zero |
self.spi.xfer([0x00]) |
self.spi.xfer([speed]) |
while self.GetStatus()['BUSY']: |
pass |
time.sleep(0.3) |
self.ReleaseSW() |
def GetStatus(self): |
#self.spi.xfer([0b11010000]) # Get status command from datasheet - does not work for uknown rasons |
self.spi.xfer([0x39]) # Gotparam command on status register |
data = self.spi.readbytes(1) |
data = data + self.spi.readbytes(1) |
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 |
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 |
if steps > 0: # look for direction |
self.spi.xfer([0x40 | (~self.Dir & 1)]) |
else: |
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]) |
def Run(self, direction, speed): |
speed_value = int(speed / 0.015) |
print hex(speed_value) |
data = [0b01010000 + direction] |
data = data +[(speed_value >> i & 0xff) for i in (16,8,0)] |
self.spi.xfer([data[0]]) # Max Speed setup |
self.spi.xfer([data[1]]) |
self.spi.xfer([data[2]]) |
self.spi.xfer([data[3]]) |
return (speed_value * 0.015) |
def MoveWait(self, units): |
' Move some distance units from current position and wait for execution ' |
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): |
self.spi.xfer([0xA0]) |
else: |
self.spi.xfer([0xA8]) |
# End Class axis -------------------------------------------------- |
print "Stepper motor control test started. \r\n" |
print "Max motor speed: %f " % SPEED |
print "Distance to run: %f " % DISTANCE |
try: |
print "SPI configuration.." |
spi = spidev.SpiDev() # create a spi object |
spi.open(0, 0) # open spi port 0, device (CS) 0 |
spi.mode = 0b01 |
spi.lsbfirst = False |
spi.bits_per_word = 8 |
spi.cshigh = False |
spi.max_speed_hz = 100000 |
#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, 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, 20.456431) |
print X.GetStatus() |
time.sleep(5) |
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.." |
time.sleep(1.1) |
X.MoveWait(-DISTANCE) # move backward and wait for motor stop |
print "Changing direction of rotation.." |
time.sleep(1.1) |
X.Float(hard=False) # release power |
finally: |
print "stop" |