| 25,12 → 25,12 |
|---|
| |
| 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]) |
| 38,21 → 38,53 |
|---|
| |
| else: |
| PORT = 0 |
| SPEED = 10 |
| DISTANCE = 50 |
| SPEED = 20 |
| DISTANCE = 5000 |
| |
| |
| class axis: |
| def __init__(self, SPI_CS, Direction, StepsPerUnit): |
| def __init__(self, SPI_CS, Direction, StepsPerUnit, MaxSpeed): |
| ' One axis of robot ' |
| self.CS = SPI_CS |
| 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 Axis and set default parameters for H-bridge ' |
| 'Reset the Axis' |
| spi.SPI_write_byte(self.CS, 0xC0) # reset |
| |
| def Initialize(self): |
| 'set default parameters for H-bridge ' |
| # 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 |
| 66,22 → 98,40 |
|---|
| 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, 0xFF) |
| spi.SPI_write_byte(self.CS, 0x0B) # KVAL_ACC |
| spi.SPI_write_byte(self.CS, 0xFF) |
| spi.SPI_write_byte(self.CS, 0x0C) # KVAL_DEC |
| spi.SPI_write_byte(self.CS, 0xFF) |
| spi.SPI_write_byte(self.CS, 0x18) # CONFIG |
| spi.SPI_write_byte(self.CS, 0b00111000) |
| spi.SPI_write_byte(self.CS, 0b00000000) |
| spi.SPI_write_byte(self.CS, self.L6470_KVAL_RUN) # KVAL_RUN |
| spi.SPI_write_byte(self.CS, 0x28) |
| spi.SPI_write_byte(self.CS, self.L6470_KVAL_ACC) # KVAL_ACC |
| spi.SPI_write_byte(self.CS, 0x28) |
| spi.SPI_write_byte(self.CS, self.L6470_KVAL_DEC) # KVAL_DEC |
| spi.SPI_write_byte(self.CS, 0x28) |
| # spi.SPI_write_byte(self.CS, 0x18) # CONFIG |
| # spi.SPI_write_byte(self.CS, 0b00111000) |
| # spi.SPI_write_byte(self.CS, 0b00000000) |
| self.MaxSpeed(self.maxspeed) |
| |
| def setKVAL(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): |
| """ The available range is from 0 to 0.996 x VS with a resolution of 0.004 x VS """ |
| |
| def setOverCurrentTH(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): |
| """ The available range is from 375 mA to 6 A, in steps of 375 mA """ |
| |
| |
| |
| 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) |
| '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)] |
| print data |
| spi.SPI_write_byte(self.CS, self.L6470_MAX_SPEED) # Max Speed setup |
| spi.SPI_write_byte(self.CS, data[0]) |
| spi.SPI_write_byte(self.CS, data[1]) |
| return (speed_value * 15.25) |
| |
| def ReleaseSW(self): |
| ' Go away from Limit Switch ' |
| while self.ReadStatusBit(2) == 1: # is Limit Switch ON ? |
| 114,6 → 164,18 |
|---|
| spi.SPI_write_byte(self.CS, (steps >> 8) & 0xFF) |
| spi.SPI_write_byte(self.CS, steps & 0xFF) |
| |
| def Run(self, direction, speed): |
| speed_value = int(speed / 0.015) |
| print hex(speed_value) |
| |
| command = 0b01010000 + int(direction) |
| data = [(speed_value >> i & 0xff) for i in (16,8,0)] |
| spi.SPI_write_byte(self.CS, command) # Max Speed setup |
| spi.SPI_write_byte(self.CS, data[0]) |
| spi.SPI_write_byte(self.CS, data[1]) |
| spi.SPI_write_byte(self.CS, data[2]) |
| return (speed_value * 0.015) |
| |
| def MoveWait(self, units): |
| ' Move some distance units from current position and wait for execution ' |
| self.Move(units) |
| 120,9 → 182,12 |
|---|
| while self.IsBusy(): |
| pass |
| |
| def Float(self): |
| def Float(self, hard = False): |
| ' switch H-bridge to High impedance state ' |
| spi.SPI_write_byte(self.CS, 0xA0) |
| if (hard == False): |
| spi.SPI_write_byte(self.CS, 0xA0) |
| else: |
| spi.SPI_write_byte(self.CS, 0xA8) |
| |
| def ReadStatusBit(self, bit): |
| ' Report given status bit ' |
| 181,7 → 246,7 |
|---|
| 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 = axis(spi.I2CSPI_SS0, 0, 1, MaxSpeed = SPEED) # set Number of Steps per axis Unit and set Direction of Rotation |
| X.MaxSpeed(SPEED) # set maximal motor speed |
| |
| print "Axis is running" |
| 193,8 → 258,14 |
|---|
| X.MoveWait(-DISTANCE) # move backward and wait for motor stop |
| print "Changing direction of rotation.." |
| |
| X.Float() # release power |
| time.sleep(1) |
| |
| X.Run(1, SPEED/2) |
| |
| time.sleep(3) |
| |
| X.Float(hard = False) # release power |
| |
| |
| finally: |
| print "stop" |