| 7,8 → 7,8 |
|---|
| |
| |
| #uncomment for debbug purposes |
| #import logging |
| #logging.basicConfig(level=logging.DEBUG) |
| import logging |
| logging.basicConfig(level=logging.DEBUG) |
| |
| import sys |
| import time |
| 116,6 → 116,7 |
|---|
| self.Move(units) |
| while self.IsBusy(): |
| pass |
| time.sleep(0.8) |
| |
| def Float(self): |
| ' switch H-bridge to High impedance state ' |
| 123,12 → 124,10 |
|---|
| |
| def ReadStatusBit(self, bit): |
| ' Report given status bit ' |
| self.spi.xfer([0x39]) # Read from address 0x19 (STATUS) |
| self.spi.xfer([0x00]) |
| data = self.spi.readbytes(2) # 1st byte |
| #self.spi.xfer([0x00]) |
| #data1 = self.spi.readbytes(1) # 2nd byte |
| #print hex(data0), hex(data1) |
| self.spi.xfer([0x39]) # Get status command |
| data = self.spi.readbytes(1) # 1st byte |
| data = data + (self.spi.readbytes(1)) # 1st byte |
| print data |
| if bit > 7: # extract requested bit |
| OutputBit = (data[0] >> (bit - 8)) & 1 |
| else: |
| 135,6 → 134,7 |
|---|
| OutputBit = (data[1] >> bit) & 1 |
| return OutputBit |
| |
| |
| |
| def IsBusy(self): |
| """ Return True if tehre are motion """ |
| 153,7 → 153,7 |
|---|
| print "SPI configuration.." |
| spi = spidev.SpiDev() # create a spi object |
| spi.open(0, 0) # open spi port 0, device (CS) 0 |
| spi.mode = 1 |
| spi.mode = 0b01 |
| spi.lsbfirst = False |
| spi.bits_per_word = 8 |
| spi.cshigh = False |
| 170,9 → 170,10 |
|---|
| 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() # release power |
| |
| |