| 25,8 → 25,6 |
|---|
| sys.stderr.write("Usage: %s BASE_SPEED (in steps/s)\n" % (sys.argv[0], )) |
| sys.exit(1) |
| |
| |
| |
| # Begin of Class Axis -------------------------------------------------- |
| |
| class axis: |
| 93,8 → 91,9 |
|---|
| spi.SPI_write_byte(self.CS, self.L6470_KVAL_DEC) # KVAL_DEC |
| spi.SPI_write_byte(self.CS, 0x58) |
| spi.SPI_write_byte(self.CS, 0x18) # CONFIG |
| spi.SPI_write_byte(self.CS, 0b00101110) |
| spi.SPI_write_byte(self.CS, 0b10000110) |
| spi.SPI_write_byte(self.CS, 0b00101110) # spolecny byte pro obe konfigurace |
| spi.SPI_write_byte(self.CS, 0b10000000) # konfigurace pro interni oscilator |
| # spi.SPI_write_byte(self.CS, 0b10000110) # konfigurace s externim oscilatorem |
| self.MaxSpeed(self.maxspeed) |
| |
| def setKVAL(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): |
| 103,8 → 102,6 |
|---|
| 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 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) |
| 114,7 → 111,6 |
|---|
| 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]) |
| 189,7 → 185,6 |
|---|
| |
| 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)] |
| 251,11 → 246,10 |
|---|
| time.sleep(0.1) |
| |
| print "Configuring stepper motor.." |
| X = axis(spi.I2CSPI_SS0, 0, 1, MaxSpeed = SPEED) # set Number of Steps per axis Unit and set Direction of Rotation |
| # maximum_speed = X.MaxSpeed(100.0) |
| #X.GetStatus() |
| X = axis(spi.I2CSPI_SS0, 0, 1, MaxSpeed = 2*SPEED) # set Number of Steps per axis Unit and set Direction of Rotation |
| |
| # print "Motor speed limit is: %f steps/s" % maximum_speed |
| |
| print "Motor speed limit is: %f steps/s" % maximum_speed |
| running = False |
| |
| print "Waiting for IR command.." |
| 287,7 → 281,7 |
|---|
| print "Motor running at: %f steps/s" % real_speed |
| else: |
| X.Reset() |
| #X.Initialize() |
| X.Initialize() |
| X.Float(hard=False) # release power |
| print "Stopping the motor." |
| |
| 297,6 → 291,6 |
|---|
| sys.exit(0) |
| |
| except Exception, e: |
| # X.Float(hard=False) # release power |
| X.Float(hard=False) # release power |
| print >> sys.stderr, "Exception: %s" % str(e) |
| sys.exit(1) |