Rev 4737 Rev 4742
1 #!/usr/bin/python 1 #!/usr/bin/python
2 # ------------------------------------------- 2 # -------------------------------------------
3 # HBSTEP01B Stepper Motor control test code 3 # HBSTEP01B Stepper Motor control test code
4 # ------------------------------------------- 4 # -------------------------------------------
5 # 5 #
6 # Program uses MLAB Python modules library from https://github.com/MLAB-project/pymlab 6 # Program uses MLAB Python modules library from https://github.com/MLAB-project/pymlab
7   7  
8   8  
9 #uncomment for debbug purposes 9 #uncomment for debbug purposes
10 #import logging 10 #import logging
11 #logging.basicConfig(level=logging.DEBUG) 11 #logging.basicConfig(level=logging.DEBUG)
12   12  
13 import sys 13 import sys
14 import time 14 import time
15 from pymlab import config 15 from pymlab import config
16 import pylirc # infrared receiver binding 16 import pylirc # infrared receiver binding
17   17  
18 #### Script Arguments ############################################### 18 #### Script Arguments ###############################################
19   19  
20 if len(sys.argv) == 2: 20 if len(sys.argv) == 2:
21 SPEED = eval(sys.argv[1]) 21 SPEED = eval(sys.argv[1])
22   22  
23 else: 23 else:
24 sys.stderr.write("Invalid number of arguments.\n") 24 sys.stderr.write("Invalid number of arguments.\n")
25 sys.stderr.write("Usage: %s BASE_SPEED (in steps/s)\n" % (sys.argv[0], )) 25 sys.stderr.write("Usage: %s BASE_SPEED (in steps/s)\n" % (sys.argv[0], ))
26 sys.exit(1) 26 sys.exit(1)
27   27  
28 # Begin of Class Axis -------------------------------------------------- 28 # Begin of Class Axis --------------------------------------------------
29   29  
30 class axis: 30 class axis:
31 def __init__(self, SPI_CS, Direction, StepsPerUnit, MaxSpeed): 31 def __init__(self, SPI_CS, Direction, StepsPerUnit, MaxSpeed):
32 ' One axis of robot ' 32 ' One axis of robot '
33 self.CS = SPI_CS 33 self.CS = SPI_CS
34 self.Dir = Direction 34 self.Dir = Direction
35 self.SPU = StepsPerUnit 35 self.SPU = StepsPerUnit
36 self.maxspeed = MaxSpeed 36 self.maxspeed = MaxSpeed
37   37  
38 self.L6470_ABS_POS =0x01 38 self.L6470_ABS_POS =0x01
39 self.L6470_EL_POS =0x02 39 self.L6470_EL_POS =0x02
40 self.L6470_MARK =0x03 40 self.L6470_MARK =0x03
41 self.L6470_SPEED =0x04 41 self.L6470_SPEED =0x04
42 self.L6470_ACC =0x05 42 self.L6470_ACC =0x05
43 self.L6470_DEC =0x06 43 self.L6470_DEC =0x06
44 self.L6470_MAX_SPEED =0x07 44 self.L6470_MAX_SPEED =0x07
45 self.L6470_MIN_SPEED =0x08 45 self.L6470_MIN_SPEED =0x08
46 self.L6470_FS_SPD =0x15 46 self.L6470_FS_SPD =0x15
47 self.L6470_KVAL_HOLD =0x09 47 self.L6470_KVAL_HOLD =0x09
48 self.L6470_KVAL_RUN =0x0A 48 self.L6470_KVAL_RUN =0x0A
49 self.L6470_KVAL_ACC =0x0B 49 self.L6470_KVAL_ACC =0x0B
50 self.L6470_KVAL_DEC =0x0C 50 self.L6470_KVAL_DEC =0x0C
51 self.L6470_INT_SPEED =0x0D 51 self.L6470_INT_SPEED =0x0D
52 self.L6470_ST_SLP =0x0E 52 self.L6470_ST_SLP =0x0E
53 self.L6470_FN_SLP_ACC =0x0F 53 self.L6470_FN_SLP_ACC =0x0F
54 self.L6470_FN_SLP_DEC =0x10 54 self.L6470_FN_SLP_DEC =0x10
55 self.L6470_K_THERM =0x11 55 self.L6470_K_THERM =0x11
56 self.L6470_ADC_OUT =0x12 56 self.L6470_ADC_OUT =0x12
57 self.L6470_OCD_TH =0x13 57 self.L6470_OCD_TH =0x13
58 self.L6470_STALL_TH =0x14 58 self.L6470_STALL_TH =0x14
59 self.L6470_STEP_MODE =0x16 59 self.L6470_STEP_MODE =0x16
60 self.L6470_ALARM_EN =0x17 60 self.L6470_ALARM_EN =0x17
61 self.L6470_CONFIG =0x18 61 self.L6470_CONFIG =0x18
62 self.L6470_STATUS =0x19 62 self.L6470_STATUS =0x19
63   63  
64 self.Reset() 64 self.Reset()
65 self.Initialize() 65 self.Initialize()
66 self.MaxSpeed(self.maxspeed) 66 self.MaxSpeed(self.maxspeed)
67   67  
68 def Reset(self): 68 def Reset(self):
69 'Reset the Axis' 69 'Reset the Axis'
70 spi.SPI_write_byte(self.CS, 0xC0) # reset 70 spi.SPI_write_byte(self.CS, 0xC0) # reset
71   71  
72 def Initialize(self): 72 def Initialize(self):
73 'set default parameters for H-bridge ' 73 'set default parameters for H-bridge '
74 # spi.SPI_write_byte(self.CS, 0x14) # Stall Treshold setup 74 # spi.SPI_write_byte(self.CS, 0x14) # Stall Treshold setup
75 # spi.SPI_write_byte(self.CS, 0xFF) 75 # spi.SPI_write_byte(self.CS, 0xFF)
76 # spi.SPI_write_byte(self.CS, 0x13) # Over Current Treshold setup 76 # spi.SPI_write_byte(self.CS, 0x13) # Over Current Treshold setup
77 # spi.SPI_write_byte(self.CS, 0xFF) 77 # spi.SPI_write_byte(self.CS, 0xFF)
78 spi.SPI_write_byte(self.CS, 0x15) # Full Step speed 78 spi.SPI_write_byte(self.CS, 0x15) # Full Step speed
79 spi.SPI_write_byte(self.CS, 0xFF) 79 spi.SPI_write_byte(self.CS, 0xFF)
80 spi.SPI_write_byte(self.CS, 0xFF) 80 spi.SPI_write_byte(self.CS, 0xFF)
81 spi.SPI_write_byte(self.CS, 0x05) # ACC 81 spi.SPI_write_byte(self.CS, 0x05) # ACC
82 spi.SPI_write_byte(self.CS, 0x00) 82 spi.SPI_write_byte(self.CS, 0x00)
83 spi.SPI_write_byte(self.CS, 0x10) 83 spi.SPI_write_byte(self.CS, 0x10)
84 spi.SPI_write_byte(self.CS, 0x06) # DEC 84 spi.SPI_write_byte(self.CS, 0x06) # DEC
85 spi.SPI_write_byte(self.CS, 0x00) 85 spi.SPI_write_byte(self.CS, 0x00)
86 spi.SPI_write_byte(self.CS, 0x10) 86 spi.SPI_write_byte(self.CS, 0x10)
87 spi.SPI_write_byte(self.CS, self.L6470_KVAL_RUN) # KVAL_RUN 87 spi.SPI_write_byte(self.CS, self.L6470_KVAL_RUN) # KVAL_RUN
88 spi.SPI_write_byte(self.CS, 0x58) 88 spi.SPI_write_byte(self.CS, 0x58)
89 spi.SPI_write_byte(self.CS, self.L6470_KVAL_ACC) # KVAL_ACC 89 spi.SPI_write_byte(self.CS, self.L6470_KVAL_ACC) # KVAL_ACC
90 spi.SPI_write_byte(self.CS, 0x58) 90 spi.SPI_write_byte(self.CS, 0x58)
91 spi.SPI_write_byte(self.CS, self.L6470_KVAL_DEC) # KVAL_DEC 91 spi.SPI_write_byte(self.CS, self.L6470_KVAL_DEC) # KVAL_DEC
92 spi.SPI_write_byte(self.CS, 0x58) 92 spi.SPI_write_byte(self.CS, 0x58)
93 spi.SPI_write_byte(self.CS, 0x18) # CONFIG 93 spi.SPI_write_byte(self.CS, 0x18) # CONFIG
94 spi.SPI_write_byte(self.CS, 0b00101110) # spolecny byte pro obe konfigurace 94 spi.SPI_write_byte(self.CS, 0b00101110) # spolecny byte pro obe konfigurace
95 spi.SPI_write_byte(self.CS, 0b10000000) # konfigurace pro interni oscilator 95 spi.SPI_write_byte(self.CS, 0b10000000) # konfigurace pro interni oscilator
96 # spi.SPI_write_byte(self.CS, 0b10000110) # konfigurace s externim oscilatorem 96 # spi.SPI_write_byte(self.CS, 0b10000110) # konfigurace s externim oscilatorem
97 self.MaxSpeed(self.maxspeed) 97 self.MaxSpeed(self.maxspeed)
98   98  
99 def setKVAL(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): 99 def setKVAL(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5):
100 """ The available range is from 0 to 0.996 x VS with a resolution of 0.004 x VS """ 100 """ The available range is from 0 to 0.996 x VS with a resolution of 0.004 x VS """
101   101  
102 def setOverCurrentTH(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): 102 def setOverCurrentTH(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5):
103 """ The available range is from 375 mA to 6 A, in steps of 375 mA """ 103 """ The available range is from 375 mA to 6 A, in steps of 375 mA """
104   104  
105 def MaxSpeed(self, speed): 105 def MaxSpeed(self, speed):
106 '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.' 106 '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.'
107 speed_value = int(speed / 15.25) 107 speed_value = int(speed / 15.25)
108 if (speed_value <= 0): 108 if (speed_value <= 0):
109 speed_value = 1 109 speed_value = 1
110 elif (speed_value >= 1023): 110 elif (speed_value >= 1023):
111 speed_value = 1023 111 speed_value = 1023
112   112  
113 data = [(speed_value >> i & 0xff) for i in (8,0)] 113 data = [(speed_value >> i & 0xff) for i in (8,0)]
114 spi.SPI_write_byte(self.CS, self.L6470_MAX_SPEED) # Max Speed setup 114 spi.SPI_write_byte(self.CS, self.L6470_MAX_SPEED) # Max Speed setup
115 spi.SPI_write_byte(self.CS, data[0]) 115 spi.SPI_write_byte(self.CS, data[0])
116 spi.SPI_write_byte(self.CS, data[1]) 116 spi.SPI_write_byte(self.CS, data[1])
117 return (speed_value * 15.25) 117 return (speed_value * 15.25)
118   118  
119 def ReleaseSW(self): 119 def ReleaseSW(self):
120 ' Go away from Limit Switch ' 120 ' Go away from Limit Switch '
121 while self.ReadStatusBit(2) == 1: # is Limit Switch ON ? 121 while self.ReadStatusBit(2) == 1: # is Limit Switch ON ?
122 spi.SPI_write_byte(self.CS, 0x92 | (~self.Dir & 1)) # release SW 122 spi.SPI_write_byte(self.CS, 0x92 | (~self.Dir & 1)) # release SW
123 while self.IsBusy(): 123 while self.IsBusy():
124 pass 124 pass
125 self.MoveWait(10) # move 10 units away 125 self.MoveWait(10) # move 10 units away
126 126
127 def GoZero(self, speed): 127 def GoZero(self, speed):
128 ' Go to Zero position ' 128 ' Go to Zero position '
129 self.ReleaseSW() 129 self.ReleaseSW()
130   130  
131 spi.SPI_write_byte(self.CS, 0x82 | (self.Dir & 1)) # Go to Zero 131 spi.SPI_write_byte(self.CS, 0x82 | (self.Dir & 1)) # Go to Zero
132 spi.SPI_write_byte(self.CS, 0x00) 132 spi.SPI_write_byte(self.CS, 0x00)
133 spi.SPI_write_byte(self.CS, speed) 133 spi.SPI_write_byte(self.CS, speed)
134 while self.IsBusy(): 134 while self.IsBusy():
135 pass 135 pass
136 time.sleep(0.3) 136 time.sleep(0.3)
137 self.ReleaseSW() 137 self.ReleaseSW()
138   138  
139 def GetStatus(self): 139 def GetStatus(self):
140 #self.spi.xfer([0b11010000]) # Get status command from datasheet - does not work for uknown rasons 140 #self.spi.xfer([0b11010000]) # Get status command from datasheet - does not work for uknown rasons
141 spi.SPI_write_byte(self.CS, 0x39) # Gotparam command on status register 141 spi.SPI_write_byte(self.CS, 0x39) # Gotparam command on status register
142 spi.SPI_write_byte(self.CS, 0x00) 142 spi.SPI_write_byte(self.CS, 0x00)
143 data = [spi.SPI_read_byte()] 143 data = [spi.SPI_read_byte()]
144 spi.SPI_write_byte(self.CS, 0x00) 144 spi.SPI_write_byte(self.CS, 0x00)
145 data = data + [spi.SPI_read_byte()] 145 data = data + [spi.SPI_read_byte()]
146   146  
147 status = dict([('SCK_MOD',data[0] & 0x80 == 0x80), #The SCK_MOD bit is an active high flag indicating that the device is working in Step-clock mode. In this case the step-clock signal should be provided through the STCK input pin. The DIR bit indicates the current motor direction 147 status = dict([('SCK_MOD',data[0] & 0x80 == 0x80), #The SCK_MOD bit is an active high flag indicating that the device is working in Step-clock mode. In this case the step-clock signal should be provided through the STCK input pin. The DIR bit indicates the current motor direction
148 ('STEP_LOSS_B',data[0] & 0x40 == 0x40), 148 ('STEP_LOSS_B',data[0] & 0x40 == 0x40),
149 ('STEP_LOSS_A',data[0] & 0x20 == 0x20), 149 ('STEP_LOSS_A',data[0] & 0x20 == 0x20),
150 ('OCD',data[0] & 0x10 == 0x10), 150 ('OCD',data[0] & 0x10 == 0x10),
151 ('TH_SD',data[0] & 0x08 == 0x08), 151 ('TH_SD',data[0] & 0x08 == 0x08),
152 ('TH_WRN',data[0] & 0x04 == 0x04), 152 ('TH_WRN',data[0] & 0x04 == 0x04),
153 ('UVLO',data[0] & 0x02 == 0x02), 153 ('UVLO',data[0] & 0x02 == 0x02),
154 ('WRONG_CMD',data[0] & 0x01 == 0x01), #The NOTPERF_CMD and WRONG_CMD flags are active high and indicate, respectively, that the command received by SPI cannot be performed or does not exist at all. 154 ('WRONG_CMD',data[0] & 0x01 == 0x01), #The NOTPERF_CMD and WRONG_CMD flags are active high and indicate, respectively, that the command received by SPI cannot be performed or does not exist at all.
155 ('NOTPERF_CMD',data[1] & 0x80 == 0x80), 155 ('NOTPERF_CMD',data[1] & 0x80 == 0x80),
156 ('MOT_STATUS',data[1] & 0x60), 156 ('MOT_STATUS',data[1] & 0x60),
157 ('DIR',data[1] & 0x10 == 0x10), 157 ('DIR',data[1] & 0x10 == 0x10),
158 ('SW_EVN',data[1] & 0x08 == 0x08), 158 ('SW_EVN',data[1] & 0x08 == 0x08),
159 ('SW_F',data[1] & 0x04 == 0x04), #The SW_F flag reports the SW input status (low for open and high for closed). 159 ('SW_F',data[1] & 0x04 == 0x04), #The SW_F flag reports the SW input status (low for open and high for closed).
160 ('BUSY',data[1] & 0x02 != 0x02), 160 ('BUSY',data[1] & 0x02 != 0x02),
161 ('HIZ',data[1] & 0x01 == 0x01)]) 161 ('HIZ',data[1] & 0x01 == 0x01)])
162 return status 162 return status
163   163  
164 def GetACC(self): 164 def GetACC(self):
165 # self.spi.xfer([0x29]) # Gotparam command on status register 165 # self.spi.xfer([0x29]) # Gotparam command on status register
166 spi.SPI_write_byte(self.CS, self.L6470_ACC + 0x20) # TODO check register read address seting 166 spi.SPI_write_byte(self.CS, self.L6470_ACC + 0x20) # TODO check register read address seting
167 spi.SPI_write_byte(self.CS, 0x00) 167 spi.SPI_write_byte(self.CS, 0x00)
168 data = spi.SPI_read_byte() 168 data = spi.SPI_read_byte()
169 spi.SPI_write_byte(self.CS, 0x00) 169 spi.SPI_write_byte(self.CS, 0x00)
170 data = data + [spi.SPI_read_byte()] 170 data = data + [spi.SPI_read_byte()]
171 print data # return speed in real units 171 print data # return speed in real units
172   172  
173   173  
174 def Move(self, units): 174 def Move(self, units):
175 ' Move some distance units from current position ' 175 ' Move some distance units from current position '
176 steps = units * self.SPU # translate units to steps 176 steps = units * self.SPU # translate units to steps
177 if steps > 0: # look for direction 177 if steps > 0: # look for direction
178 spi.SPI_write_byte(self.CS, 0x40 | (~self.Dir & 1)) 178 spi.SPI_write_byte(self.CS, 0x40 | (~self.Dir & 1))
179 else: 179 else:
180 spi.SPI_write_byte(self.CS, 0x40 | (self.Dir & 1)) 180 spi.SPI_write_byte(self.CS, 0x40 | (self.Dir & 1))
181 steps = int(abs(steps)) 181 steps = int(abs(steps))
182 spi.SPI_write_byte(self.CS, (steps >> 16) & 0xFF) 182 spi.SPI_write_byte(self.CS, (steps >> 16) & 0xFF)
183 spi.SPI_write_byte(self.CS, (steps >> 8) & 0xFF) 183 spi.SPI_write_byte(self.CS, (steps >> 8) & 0xFF)
184 spi.SPI_write_byte(self.CS, steps & 0xFF) 184 spi.SPI_write_byte(self.CS, steps & 0xFF)
185   185  
186 def Run(self, direction, speed): 186 def Run(self, direction, speed):
187 speed_value = int(speed / 0.015) 187 speed_value = int(speed / 0.015)
188   188  
189 command = 0b01010000 + int(direction) 189 command = 0b01010000 + int(direction)
190 data = [(speed_value >> i & 0xff) for i in (16,8,0)] 190 data = [(speed_value >> i & 0xff) for i in (16,8,0)]
191 spi.SPI_write_byte(self.CS, command) # Max Speed setup 191 spi.SPI_write_byte(self.CS, command) # Max Speed setup
192 spi.SPI_write_byte(self.CS, data[0]) 192 spi.SPI_write_byte(self.CS, data[0])
193 spi.SPI_write_byte(self.CS, data[1]) 193 spi.SPI_write_byte(self.CS, data[1])
194 spi.SPI_write_byte(self.CS, data[2]) 194 spi.SPI_write_byte(self.CS, data[2])
195 return (speed_value * 0.015) 195 return (speed_value * 0.015)
196   196  
197 def MoveWait(self, units): 197 def MoveWait(self, units):
198 ' Move some distance units from current position and wait for execution ' 198 ' Move some distance units from current position and wait for execution '
199 self.Move(units) 199 self.Move(units)
200 while self.GetStatus()['BUSY']: 200 while self.GetStatus()['BUSY']:
201 time.sleep(0.1) 201 time.sleep(0.1)
202   202  
203 def Float(self, hard = False): 203 def Float(self, hard = False):
204 ' switch H-bridge to High impedance state ' 204 ' switch H-bridge to High impedance state '
205 if (hard == False): 205 if (hard == False):
206 spi.SPI_write_byte(self.CS, 0xA0) 206 spi.SPI_write_byte(self.CS, 0xA0)
207 else: 207 else:
208 spi.SPI_write_byte(self.CS, 0xA8) 208 spi.SPI_write_byte(self.CS, 0xA8)
209   209  
210   210  
211 # End Class axis -------------------------------------------------- 211 # End Class axis --------------------------------------------------
212   212  
213   213  
214 print "Clock motor control script started. \r\n" 214 print "Clock motor control script started. \r\n"
215 print "Requested speed is: %f steps/s" % SPEED 215 print "Requested speed is: %f steps/s" % SPEED
216   216  
217 pylirc.init("pylirc", "/home/odroid/conf") 217 pylirc.init("pylirc", "/home/odroid/conf")
218   218  
219   219  
220   220  
221 cfg = config.Config( 221 cfg = config.Config(
222 i2c = { 222 i2c = {
223 "port": 1, 223 "port": 1,
224 }, 224 },
225   225  
226 bus = [ 226 bus = [
227 { 227 {
228 "name":"spi", 228 "name":"spi",
229 "type":"i2cspi", 229 "type":"i2cspi",
230 "address": 0x2e, 230 "address": 0x2e,
231 }, 231 },
232 ], 232 ],
233 ) 233 )
234   234  
235   235  
236 cfg.initialize() 236 cfg.initialize()
237   237  
238 spi = cfg.get_device("spi") 238 spi = cfg.get_device("spi")
239   239  
240 spi.route() 240 spi.route()
241   241  
242   242  
243 try: 243 try:
244 print "Configuring SPI.." 244 print "Configuring SPI.."
245 spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz) 245 spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz)
246 time.sleep(0.1) 246 time.sleep(0.1)
247   247  
248 maximum_speed = 2 * SPEED 248 maximum_speed = 2 * SPEED
249   249  
250 print "Configuring stepper motor.." 250 print "Configuring stepper motor.."
251 X = axis(spi.I2CSPI_SS0, 0, 1, MaxSpeed = maximum_speed) # set Number of Steps per axis Unit and set Direction of Rotation 251 X = axis(spi.I2CSPI_SS0, 0, 1, MaxSpeed = maximum_speed) # set Number of Steps per axis Unit and set Direction of Rotation
252   252  
253   253  
254 print "Motor speed limit is: %f steps/s" % maximum_speed 254 print "Motor speed limit is: %f steps/s" % maximum_speed
255 running = False 255 running = False
256   256  
257 print "Waiting for IR command.." 257 print "Waiting for IR command.."
258 while True: # set maximal motor speed 258 while True: # set maximal motor speed
259 key = pylirc.nextcode() ## preccessing the IR remote control commands. 259 key = pylirc.nextcode() ## preccessing the IR remote control commands.
260   260  
261 if key == ['start']: 261 if key == ['start']:
262 running = True 262 running = True
263 direction = True 263 direction = True
264 requested_speed = SPEED 264 requested_speed = SPEED
265   265  
266 if key == ['faster']: 266 if key == ['faster']:
267 running = True 267 running = True
268 direction = True 268 direction = True
269 requested_speed = SPEED * 1.2 # runnig the motor at 120% of the base motor speed 269 requested_speed = SPEED * 1.2 # runnig the motor at 120% of the base motor speed
270   270  
271 if key == ['slower']: 271 if key == ['slower']:
272 running = True 272 running = True
273 direction = False 273 direction = False
274 requested_speed = SPEED * 0.8 274 requested_speed = SPEED * 0.8
275   275  
276 if key == ['stop']: 276 if key == ['stop']:
277 running = False 277 running = False
278   278  
279 time.sleep(0.1) 279 time.sleep(0.1)
280   280  
281 if running == True: 281 if running == True:
282 real_speed = X.Run(direction, requested_speed) 282 real_speed = X.Run(direction, requested_speed)
283 print "Motor running at: %f steps/s" % real_speed 283 print "Motor running at: %f steps/s" % real_speed
284 else: 284 else:
-   285 X.Float(hard=False) # release power
285 X.Reset() 286 X.Reset()
286 X.Initialize() 287 X.Initialize()
287 X.Float(hard=False) # release power -  
288 print "Stopping the motor." 288 print "Stopping the motor."
289   289  
290 except KeyboardInterrupt: 290 except KeyboardInterrupt:
291 print "stop" 291 print "stop"
292 X.Float(hard=False) # release power 292 X.Float(hard=False) # release power
293 sys.exit(0) 293 sys.exit(0)
294   294  
295 except Exception, e: 295 except Exception, e:
296 X.Float(hard=False) # release power 296 X.Float(hard=False) # release power
297 print >> sys.stderr, "Exception: %s" % str(e) 297 print >> sys.stderr, "Exception: %s" % str(e)
298 sys.exit(1) 298 sys.exit(1)