Rev 4346 Rev 4347
1 #!/usr/bin/python 1 #!/usr/bin/python
2   2  
3 #uncomment for debbug purposes 3 #uncomment for debbug purposes
4 #import logging 4 #import logging
5 #logging.basicConfig(level=logging.DEBUG) 5 #logging.basicConfig(level=logging.DEBUG)
6   6  
7 import sys 7 import sys
8 import time 8 import time
9 from pymlab import config 9 from pymlab import config
10   10  
11 class axis: 11 class axis:
12 def __init__(self, SPI_CS, Direction, StepsPerUnit): 12 def __init__(self, SPI_CS, Direction, StepsPerUnit):
13 ' One axis of robot ' 13 ' One axis of robot '
14 self.CS = SPI_CS 14 self.CS = SPI_CS
15 self.Dir = Direction 15 self.Dir = Direction
16 self.SPU = StepsPerUnit 16 self.SPU = StepsPerUnit
17 self.Reset() 17 self.Reset()
18   18  
19 def Reset(self): 19 def Reset(self):
20 ' Reset Axis and set default parameters for H-bridge ' 20 ' Reset Axis and set default parameters for H-bridge '
21 spi.SPI_write_byte(self.CS, 0xC0) # reset 21 spi.SPI_write_byte(self.CS, 0xC0) # reset
22 spi.SPI_write_byte(self.CS, 0x14) # Stall Treshold setup 22 spi.SPI_write_byte(self.CS, 0x14) # Stall Treshold setup
23 spi.SPI_write_byte(self.CS, 0x7F) 23 spi.SPI_write_byte(self.CS, 0x7F)
24 spi.SPI_write_byte(self.CS, 0x14) # Over Current Treshold setup 24 spi.SPI_write_byte(self.CS, 0x14) # Over Current Treshold setup
25 spi.SPI_write_byte(self.CS, 0x0F) 25 spi.SPI_write_byte(self.CS, 0x0F)
26 #spi.SPI_write_byte(self.CS, 0x15) # Full Step speed 26 #spi.SPI_write_byte(self.CS, 0x15) # Full Step speed
27 #spi.SPI_write_byte(self.CS, 0x00) 27 #spi.SPI_write_byte(self.CS, 0x00)
28 #spi.SPI_write_byte(self.CS, 0x30) 28 #spi.SPI_write_byte(self.CS, 0x30)
29 #spi.SPI_write_byte(self.CS, 0x0A) # KVAL_RUN 29 #spi.SPI_write_byte(self.CS, 0x0A) # KVAL_RUN
30 #spi.SPI_write_byte(self.CS, 0x50) 30 #spi.SPI_write_byte(self.CS, 0x50)
31 31
32 def MaxSpeed(self, speed): 32 def MaxSpeed(self, speed):
33 ' Setup of maximum speed ' 33 ' Setup of maximum speed '
34 spi.SPI_write_byte(self.CS, 0x07) # Max Speed setup 34 spi.SPI_write_byte(self.CS, 0x07) # Max Speed setup
35 spi.SPI_write_byte(self.CS, 0x00) 35 spi.SPI_write_byte(self.CS, 0x00)
36 spi.SPI_write_byte(self.CS, speed) 36 spi.SPI_write_byte(self.CS, speed)
37   37  
38 def ReleaseSW(self): 38 def ReleaseSW(self):
39 ' Go away from Limit Switch ' 39 ' Go away from Limit Switch '
40 while self.ReadStatusBit(2) == 1: # is Limit Switch ON ? 40 while self.ReadStatusBit(2) == 1: # is Limit Switch ON ?
41 spi.SPI_write_byte(self.CS, 0x92 | (~self.Dir & 1)) # release SW 41 spi.SPI_write_byte(self.CS, 0x92 | (~self.Dir & 1)) # release SW
42 while self.IsBusy(): 42 while self.IsBusy():
43 pass 43 pass
44 self.MoveWait(10) # move 10 units away 44 self.MoveWait(10) # move 10 units away
45 45
46 def GoZero(self, speed): 46 def GoZero(self, speed):
47 ' Go to Zero position ' 47 ' Go to Zero position '
48 self.ReleaseSW() 48 self.ReleaseSW()
49   49  
50 spi.SPI_write_byte(self.CS, 0x82 | (self.Dir & 1)) # Go to Zero 50 spi.SPI_write_byte(self.CS, 0x82 | (self.Dir & 1)) # Go to Zero
51 spi.SPI_write_byte(self.CS, 0x00) 51 spi.SPI_write_byte(self.CS, 0x00)
52 spi.SPI_write_byte(self.CS, speed) 52 spi.SPI_write_byte(self.CS, speed)
53 while self.IsBusy(): 53 while self.IsBusy():
54 pass 54 pass
55 time.sleep(0.3) 55 time.sleep(0.3)
56 self.ReleaseSW() 56 self.ReleaseSW()
57   57  
58 def Move(self, units): 58 def Move(self, units):
59 ' Move some distance units from current position ' 59 ' Move some distance units from current position '
60 steps = units * self.SPU # translate units to steps 60 steps = units * self.SPU # translate units to steps
61 if steps > 0: # look for direction 61 if steps > 0: # look for direction
62 spi.SPI_write_byte(self.CS, 0x40 | (~self.Dir & 1)) 62 spi.SPI_write_byte(self.CS, 0x40 | (~self.Dir & 1))
63 else: 63 else:
64 spi.SPI_write_byte(self.CS, 0x40 | (self.Dir & 1)) 64 spi.SPI_write_byte(self.CS, 0x40 | (self.Dir & 1))
65 steps = int(abs(steps)) 65 steps = int(abs(steps))
66 spi.SPI_write_byte(self.CS, (steps >> 16) & 0xFF) 66 spi.SPI_write_byte(self.CS, (steps >> 16) & 0xFF)
67 spi.SPI_write_byte(self.CS, (steps >> 8) & 0xFF) 67 spi.SPI_write_byte(self.CS, (steps >> 8) & 0xFF)
68 spi.SPI_write_byte(self.CS, steps & 0xFF) 68 spi.SPI_write_byte(self.CS, steps & 0xFF)
69   69  
70 def MoveWait(self, units): 70 def MoveWait(self, units):
71 ' Move some distance units from current position and wait for execution ' 71 ' Move some distance units from current position and wait for execution '
72 self.Move(units) 72 self.Move(units)
73 while self.IsBusy(): 73 while self.IsBusy():
74 pass 74 pass
75   75  
76 def Float(self): 76 def Float(self):
77 ' switch H-bridge to High impedance state ' 77 ' switch H-bridge to High impedance state '
78 spi.SPI_write_byte(self.CS, 0xA0) 78 spi.SPI_write_byte(self.CS, 0xA0)
79   79  
80 def ReadStatusBit(self, bit): 80 def ReadStatusBit(self, bit):
81 ' Report given status bit ' 81 ' Report given status bit '
82 spi.SPI_write_byte(self.CS, 0x39) # Read from address 0x19 (STATUS) 82 spi.SPI_write_byte(self.CS, 0x39) # Read from address 0x19 (STATUS)
83 spi.SPI_write_byte(self.CS, 0x00) 83 spi.SPI_write_byte(self.CS, 0x00)
84 data0 = spi.SPI_read_byte() # 1st byte 84 data0 = spi.SPI_read_byte() # 1st byte
85 spi.SPI_write_byte(self.CS, 0x00) 85 spi.SPI_write_byte(self.CS, 0x00)
86 data1 = spi.SPI_read_byte() # 2nd byte 86 data1 = spi.SPI_read_byte() # 2nd byte
87 #print hex(data0), hex(data1) 87 #print hex(data0), hex(data1)
88 if bit > 7: # extract requested bit 88 if bit > 7: # extract requested bit
89 OutputBit = (data0 >> (bit - 8)) & 1 89 OutputBit = (data0 >> (bit - 8)) & 1
90 else: 90 else:
91 OutputBit = (data1 >> bit) & 1 91 OutputBit = (data1 >> bit) & 1
92 return OutputBit 92 return OutputBit
93   93  
94 94
95 def IsBusy(self): 95 def IsBusy(self):
96 """ Return True if tehre are motion """ 96 """ Return True if tehre are motion """
97 if self.ReadStatusBit(1) == 1: 97 if self.ReadStatusBit(1) == 1:
98 return False 98 return False
99 else: 99 else:
100 return True 100 return True
101   101  
102 # End Class axis -------------------------------------------------- 102 # End Class axis --------------------------------------------------
103   103  
104   104  
105   105  
106   106  
107   107  
108 cfg = config.Config( 108 cfg = config.Config(
109 i2c = { 109 i2c = {
110 "port": 1, 110 "port": 1,
111 }, 111 },
112   112  
113 bus = 113 bus =
114 [ 114 [
115 { 115 {
116 "type": "i2chub", 116 "type": "i2chub",
117 "address": 0x70, 117 "address": 0x70,
118 "children": 118 "children":
119 [ 119 [
120 { "name":"spi", "type":"i2cspi", "channel":7} 120 { "name":"spi", "type":"i2cspi", "channel":7}
121 ], 121 ],
122 }, 122 },
123 ], 123 ],
124 ) 124 )
125   125  
126   126  
127 cfg.initialize() 127 cfg.initialize()
128   128  
129 print "Irradiation unit. \r\n" 129 print "Irradiation unit. \r\n"
130   130  
131 spi = cfg.get_device("spi") 131 spi = cfg.get_device("spi")
132   132  
133 spi.route() 133 spi.route()
134   134  
135   135  
136 try: 136 try:
137   137  
138 while True: 138 while True:
139 print "SPI configuration.." 139 print "SPI configuration.."
140 spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz) 140 spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz)
141   141  
142 print "Robot inicialization" 142 print "Robot inicialization"
143 X = axis(spi.I2CSPI_SS1, 0, 641) 143 X = axis(spi.I2CSPI_SS1, 0, 641)
144 Y = axis(spi.I2CSPI_SS0, 1, 642) 144 Y = axis(spi.I2CSPI_SS0, 1, 642)
145 Z = axis(spi.I2CSPI_SS2, 1, 32256) 145 Z = axis(spi.I2CSPI_SS2, 1, 32256)
146   146  
147 X.MaxSpeed(35) # max. 50 147 X.MaxSpeed(35) # max. 50
148 Y.MaxSpeed(35) # max. 50 148 Y.MaxSpeed(35) # max. 50
149 Z.MaxSpeed(20) # max. 30 149 Z.MaxSpeed(20) # max. 30
150 150
151 Z.GoZero(100) 151 Z.GoZero(100)
152 Y.GoZero(20) 152 Y.GoZero(20)
153 X.GoZero(20) 153 X.GoZero(20)
154   154  
155 time.sleep(1) 155 time.sleep(1)
156   156  
157 X.Move(16) 157 X.Move(16)
158 Y.Move(150) 158 Y.Move(150)
159 Z.MoveWait(39) 159 Z.MoveWait(39)
160 time.sleep(1) 160 time.sleep(1)
161 Z.MoveWait(-5) 161 Z.MoveWait(-5)
162   162  
163 163
164 print "Robot is running" 164 print "Robot is running"
165   165  
166 xcorner = 72 166 xcorner = 72
167 xsteps = 9 167 xsteps = 9
168 ysteps = 6 # *2 + 1 line 168 ysteps = 6 # *2 + 1 line
169 yy = 0 169 yy = 0
170 space = 4 170 space = 4
171 grid = 8 171 grid = 8
172 delay = 40 172 delay = 50
173   173  
174 X.MoveWait(xcorner) 174 X.MoveWait(xcorner)
175   175  
176 for y in range(ysteps): 176 for y in range(ysteps):
177 for x in range(xsteps): 177 for x in range(xsteps):
178 print x, yy 178 print x, yy
179 yy += 1 -  
180 Z.MoveWait(space) 179 Z.MoveWait(space)
181 time.sleep(delay) 180 time.sleep(delay)
182 Z.MoveWait(-space) 181 Z.MoveWait(-space)
183 if x < (xsteps - 1): 182 if x < (xsteps - 1):
184 X.MoveWait(grid) 183 X.MoveWait(grid)
185 Y.MoveWait(-grid) 184 Y.MoveWait(-grid)
-   185 yy += 1
186 for x in range(xsteps): 186 for x in range(xsteps):
187 print x, yy 187 print x, yy
188 yy += 1 -  
189 Z.MoveWait(space) 188 Z.MoveWait(space)
190 time.sleep(delay) 189 time.sleep(delay)
191 Z.MoveWait(-space) 190 Z.MoveWait(-space)
192 if x < (xsteps - 1): 191 if x < (xsteps - 1):
193 X.MoveWait(-grid) 192 X.MoveWait(-grid)
194 Y.MoveWait(-grid) 193 Y.MoveWait(-grid)
-   194 yy += 1
195   195  
196 for x in range(xsteps): 196 for x in range(xsteps):
197 print x, y 197 print x, yy
198 Z.MoveWait(space) 198 Z.MoveWait(space)
199 time.sleep(delay) 199 time.sleep(delay)
200 Z.MoveWait(-space) 200 Z.MoveWait(-space)
201 if x < (xsteps - 1): 201 if x < (xsteps - 1):
202 X.MoveWait(grid) 202 X.MoveWait(grid)
203 Y.MoveWait(-20) 203 Y.MoveWait(-20)
204   204  
205 X.MoveWait(-(xcorner+(xsteps-1)*grid)) 205 X.MoveWait(-(xcorner+(xsteps-1)*grid))
206 #Z.MoveWait(-10) 206 #Z.MoveWait(-10)
207 Y.MoveWait(ysteps*grid*2+20) 207 Y.MoveWait(ysteps*grid*2+20)
208 X.Float() 208 X.Float()
209 Y.Float() 209 Y.Float()
210 Z.Float() 210 Z.Float()
211 211
212   212  
213 while True: 213 while True:
214 print X.ReadStatusBit(2), "end" 214 print X.ReadStatusBit(2), "end"
215 time.sleep(1) 215 time.sleep(1)
216   216  
217 finally: 217 finally:
218 print "stop" 218 print "stop"