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| #!/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 = 5 |
| DISTANCE = 50 |
| |
| 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_handler, Direction, StepsPerUnit): |
| ' One axis of robot ' |
| self.spi = SPI_handler |
| self.Dir = Direction |
| self.SPU = StepsPerUnit |
| self.Reset() |
| |
| def Reset(self): |
| ' Reset Axis and set default parameters for H-bridge ' |
| 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) |
| |
| def MaxSpeed(self, speed): |
| ' Setup of maximum 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 |
| while self.IsBusy(): |
| 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.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 |
| 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 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 ' |
| self.spi.xfer( 0xA0) |
| |
| def ReadStatusBit(self, bit): |
| ' Report given status bit ' |
| self.spi.xfer( 0x39) # Read from address 0x19 (STATUS) |
| self.spi.xfer( 0x00) |
| data0 = spi.SPI_read_byte() # 1st byte |
| self.spi.xfer( 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 -------------------------------------------------- |
| |
| print "Stepper motor control test started. \r\n" |
| print "Max motor speed: %d " % SPEED |
| print "Distance to run: %d " % DISTANCE |
| |
| try: |
| print "SPI configuration.." |
| spi = spidev.SpiDev() # create a spi object |
| spi.open(1, 0) # open spi port 0, device (CS) 1 |
| #spi.mode = 2 |
| #spi.bits_per_word = 8 |
| #spi.cshigh = False |
| 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, 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" |