| 23,12 → 23,12 |
|---|
| |
| elif len(sys.argv) == 2: |
| PORT = eval(sys.argv[1]) |
| SPEED = 5 |
| DISTANCE = 50 |
| SPEED = 50 |
| DISTANCE = 5000 |
| |
| elif len(sys.argv) == 3: |
| SPEED = eval(sys.argv[2]) |
| DISTANCE = 100 |
| DISTANCE = 1000 |
| |
| elif len(sys.argv) == 4: |
| SPEED = eval(sys.argv[2]) |
| 36,8 → 36,8 |
|---|
| |
| else: |
| PORT = 0 |
| SPEED = 10 |
| DISTANCE = 50 |
| SPEED = 20 |
| DISTANCE = 5000 |
| |
| class axis: |
| def __init__(self, SPI_handler, Direction, StepsPerUnit, MaxSpeed): |
| 45,10 → 45,40 |
|---|
| self.spi = SPI_handler |
| self.Dir = Direction |
| self.SPU = StepsPerUnit |
| self.maxseed = MaxSpeed |
| 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 |
| 68,27 → 98,29 |
|---|
| self.spi.xfer([0x06]) # DEC |
| self.spi.xfer([0x00]) |
| self.spi.xfer([0x10]) |
| self.spi.xfer([0x0A]) # KVAL_RUN |
| self.spi.xfer([self.L6470_KVAL_RUN]) # KVAL_RUN |
| self.spi.xfer([0x50]) |
| self.spi.xfer([0x0B]) # KVAL_ACC |
| self.spi.xfer([self.L6470_KVAL_ACC]) # KVAL_ACC |
| self.spi.xfer([0x50]) |
| self.spi.xfer([0x0C]) # KVAL_DEC |
| 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' |
| '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): |
| if (speed_value <= 0): |
| speed_value = 1 |
| print hex(speed_value) |
| elif (speed_value >= 1023): |
| speed_value = 1023 |
| |
| data = [(speed_value >> i & 0xff) for i in (16,8,0)] |
| self.spi.xfer([data[0]]) # Max Speed setup |
| 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]]) |
| self.spi.xfer([data[2]]) |
| return (speed_value * 15.25) |
| |
| def ReleaseSW(self): |
| 191,7 → 223,7 |
|---|
| time.sleep(1) |
| |
| print "Axis inicialization" |
| X = axis(spi, 0, 641, MaxSpeed = SPEED) # set Number of Steps per axis Unit and set Direction of Rotation |
| X = axis(spi, 0, 1, MaxSpeed = SPEED) # set Number of Steps per axis Unit and set Direction of Rotation |
| |
| print X.MaxSpeed(SPEED) # set maximal motor speed |
| |