Rev 4614 Rev 4615
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 print "SPI configuration.." 137 print "SPI configuration.."
138 spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz) 138 spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz)
139   139  
140 print "Robot inicialization" 140 print "Robot inicialization"
141 X = axis(spi.I2CSPI_SS1, 0, 641) 141 X = axis(spi.I2CSPI_SS1, 0, 641)
142 Y = axis(spi.I2CSPI_SS0, 1, 642) 142 Y = axis(spi.I2CSPI_SS0, 1, 642)
143 Z = axis(spi.I2CSPI_SS2, 1, 32256) 143 Z = axis(spi.I2CSPI_SS2, 1, 32256)
144   144  
145 X.MaxSpeed(35) # max. 50 145 X.MaxSpeed(35) # max. 50
146 Y.MaxSpeed(35) # max. 50 146 Y.MaxSpeed(35) # max. 50
147 Z.MaxSpeed(20) # max. 30 147 Z.MaxSpeed(20) # max. 30
148 148
149 Z.GoZero(100) 149 Z.GoZero(100)
150 Y.GoZero(20) 150 Y.GoZero(20)
151 X.GoZero(20) 151 X.GoZero(20)
152   152  
153 time.sleep(1) 153 time.sleep(1)
154   154  
155 X.Move(16) 155 X.Move(16)
156 Y.Move(150) 156 Y.Move(150)
157 Z.MoveWait(39) 157 Z.MoveWait(39)
158 time.sleep(1) 158 time.sleep(1)
159 Z.MoveWait(-5) 159 Z.MoveWait(-5)
160   160  
161 161
162 print "Robot is running" 162 print "Robot is running"
163   163  
164 xcorner = 72 164 xcorner = 72
165 xsteps = 9 165 xsteps = 9
166 ysteps = 6 # *2 + 1 line 166 ysteps = 6 # *2 + 1 line
167 yy = 0 167 yy = 0
168 space = 4 168 space = 4
169 grid = 8 169 grid = 8
170 delay = 1 #50 170 delay = 50
171   171  
172 X.MoveWait(xcorner) 172 X.MoveWait(xcorner)
173   173  
174 for y in range(ysteps): 174 for y in range(ysteps):
175 for x in range(xsteps): 175 for x in range(xsteps):
176 print x+1, yy+1 176 print x+1, yy+1
177 Z.MoveWait(space) 177 Z.MoveWait(space)
178 time.sleep(delay) 178 time.sleep(delay)
179 Z.MoveWait(-space) 179 Z.MoveWait(-space)
180 if x < (xsteps - 1): 180 if x < (xsteps - 1):
181 X.MoveWait(grid) 181 X.MoveWait(grid)
182 Y.MoveWait(-grid) 182 Y.MoveWait(-grid)
183 yy += 1 183 yy += 1
184 for x in range(xsteps): 184 for x in range(xsteps):
185 print x+1, yy+1 185 print x+1, yy+1
186 Z.MoveWait(space) 186 Z.MoveWait(space)
187 time.sleep(delay) 187 time.sleep(delay)
188 Z.MoveWait(-space) 188 Z.MoveWait(-space)
189 if x < (xsteps - 1): 189 if x < (xsteps - 1):
190 X.MoveWait(-grid) 190 X.MoveWait(-grid)
191 Y.MoveWait(-grid) 191 Y.MoveWait(-grid)
192 yy += 1 192 yy += 1
193   193  
194 for x in range(xsteps): 194 for x in range(xsteps):
195 print x+1, yy+1 195 print x+1, yy+1
196 Z.MoveWait(space) 196 Z.MoveWait(space)
197 time.sleep(delay) 197 time.sleep(delay)
198 Z.MoveWait(-space) 198 Z.MoveWait(-space)
199 if x < (xsteps - 1): 199 if x < (xsteps - 1):
200 X.MoveWait(grid) 200 X.MoveWait(grid)
201 Y.MoveWait(-20) 201 Y.MoveWait(-20)
202   202  
203 X.MoveWait(-(xcorner+(xsteps-1)*grid)) 203 X.MoveWait(-(xcorner+(xsteps-1)*grid))
204 #Z.MoveWait(-10) 204 #Z.MoveWait(-10)
205 Y.MoveWait(ysteps*grid*2+20) 205 Y.MoveWait(ysteps*grid*2+20)
206 X.Float() 206 X.Float()
207 Y.Float() 207 Y.Float()
208 Z.Float() 208 Z.Float()
209 209
210   210  
211 # while True: 211 # while True:
212 # print X.ReadStatusBit(2), "end" 212 # print X.ReadStatusBit(2), "end"
213 # time.sleep(1) 213 # time.sleep(1)
214 # sys.exit("STOP") 214 # sys.exit("STOP")
215   215  
216 finally: 216 finally:
217 print "stop" 217 print "stop"