Rev 4567 Rev 4570
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 import spidev 15 import spidev
16   16  
17 #### Script Arguments ############################################### 17 #### Script Arguments ###############################################
18   18  
19 if len(sys.argv) < 2: 19 if len(sys.argv) < 2:
20 sys.stderr.write("Invalid number of arguments.\n") 20 sys.stderr.write("Invalid number of arguments.\n")
21 sys.stderr.write("Usage: %s PORT ADDRESS SPEED MOVE_DISTANCE\n" % (sys.argv[0], )) 21 sys.stderr.write("Usage: %s PORT ADDRESS SPEED MOVE_DISTANCE\n" % (sys.argv[0], ))
22 sys.exit(1) 22 sys.exit(1)
23   23  
24 elif len(sys.argv) == 2: 24 elif len(sys.argv) == 2:
25 PORT = eval(sys.argv[1]) 25 PORT = eval(sys.argv[1])
26 SPEED = 5 26 SPEED = 5
27 DISTANCE = 50 27 DISTANCE = 50
28   28  
29 elif len(sys.argv) == 3: 29 elif len(sys.argv) == 3:
30 SPEED = eval(sys.argv[2]) 30 SPEED = eval(sys.argv[2])
31 DISTANCE = 100 31 DISTANCE = 100
32   32  
33 elif len(sys.argv) == 4: 33 elif len(sys.argv) == 4:
34 SPEED = eval(sys.argv[2]) 34 SPEED = eval(sys.argv[2])
35 DISTANCE = eval(sys.argv[3]) 35 DISTANCE = eval(sys.argv[3])
36   36  
37 else: 37 else:
38 PORT = 0 38 PORT = 0
39 SPEED = 10 39 SPEED = 10
40 DISTANCE = 50 40 DISTANCE = 50
41   41  
42 class axis: 42 class axis:
43 def __init__(self, SPI_handler, Direction, StepsPerUnit): 43 def __init__(self, SPI_handler, Direction, StepsPerUnit):
44 ' One axis of robot ' 44 ' One axis of robot '
45 self.spi = SPI_handler 45 self.spi = SPI_handler
46 self.Dir = Direction 46 self.Dir = Direction
47 self.SPU = StepsPerUnit 47 self.SPU = StepsPerUnit
48 self.Reset() 48 self.Reset()
49   49  
50 def Reset(self): 50 def Reset(self):
51 ' Reset Axis and set default parameters for H-bridge ' 51 ' Reset Axis and set default parameters for H-bridge '
52 self.spi.xfer([0xC0]) # reset 52 self.spi.xfer([0xC0]) # reset
53 # self.spi.xfer( 0x14) # Stall Treshold setup 53 # self.spi.xfer( 0x14) # Stall Treshold setup
54 # self.spi.xfer( 0xFF) 54 # self.spi.xfer( 0xFF)
55 # self.spi.xfer( 0x13) # Over Current Treshold setup 55 # self.spi.xfer( 0x13) # Over Current Treshold setup
56 # self.spi.xfer( 0xFF) 56 # self.spi.xfer( 0xFF)
57 self.spi.xfer([0x15]) # Full Step speed 57 self.spi.xfer([0x15]) # Full Step speed
58 self.spi.xfer([0xFF]) 58 self.spi.xfer([0xFF])
59 self.spi.xfer([0xFF]) 59 self.spi.xfer([0xFF])
60 self.spi.xfer([0x05]) # ACC 60 self.spi.xfer([0x05]) # ACC
61 self.spi.xfer([0x00]) 61 self.spi.xfer([0x00])
62 self.spi.xfer([0x10]) 62 self.spi.xfer([0x10])
63 self.spi.xfer([0x06]) # DEC 63 self.spi.xfer([0x06]) # DEC
64 self.spi.xfer([0x00]) 64 self.spi.xfer([0x00])
65 self.spi.xfer([0x10]) 65 self.spi.xfer([0x10])
66 self.spi.xfer([0x0A]) # KVAL_RUN 66 self.spi.xfer([0x0A]) # KVAL_RUN
67 self.spi.xfer([0xFF]) 67 self.spi.xfer([0xFF])
68 self.spi.xfer([0x0B]) # KVAL_ACC 68 self.spi.xfer([0x0B]) # KVAL_ACC
69 self.spi.xfer([0xFF]) 69 self.spi.xfer([0xFF])
70 self.spi.xfer([0x0C]) # KVAL_DEC 70 self.spi.xfer([0x0C]) # KVAL_DEC
71 self.spi.xfer([0xFF]) 71 self.spi.xfer([0xFF])
72 self.spi.xfer([0x18]) # CONFIG 72 self.spi.xfer([0x18]) # CONFIG
73 self.spi.xfer([0b00111000]) 73 self.spi.xfer([0b00111000])
74 self.spi.xfer([0b00000000]) 74 self.spi.xfer([0b00000000])
75 75
76 def MaxSpeed(self, speed): 76 def MaxSpeed(self, speed):
77 ' Setup of maximum speed ' 77 ' Setup of maximum speed '
78 self.spi.xfer([0x07]) # Max Speed setup 78 self.spi.xfer([0x07]) # Max Speed setup
79 self.spi.xfer([0x00]) 79 self.spi.xfer([0x00])
80 self.spi.xfer([speed]) 80 self.spi.xfer([speed])
81   81  
82 def ReleaseSW(self): 82 def ReleaseSW(self):
83 ' Go away from Limit Switch ' 83 ' Go away from Limit Switch '
84 while self.ReadStatusBit(2) == 1: # is Limit Switch ON ? 84 while self.ReadStatusBit(2) == 1: # is Limit Switch ON ?
85 self.spi.xfer([0x92 | (~self.Dir & 1)]) # release SW 85 self.spi.xfer([0x92 | (~self.Dir & 1)]) # release SW
86 while self.IsBusy(): 86 while self.IsBusy():
87 pass 87 pass
88 self.MoveWait(10) # move 10 units away 88 self.MoveWait(10) # move 10 units away
89 89
90 def GoZero(self, speed): 90 def GoZero(self, speed):
91 ' Go to Zero position ' 91 ' Go to Zero position '
92 self.ReleaseSW() 92 self.ReleaseSW()
93   93  
94 self.spi.xfer([0x82 | (self.Dir & 1)]) # Go to Zero 94 self.spi.xfer([0x82 | (self.Dir & 1)]) # Go to Zero
95 self.spi.xfer([0x00]) 95 self.spi.xfer([0x00])
96 self.spi.xfer([speed]) 96 self.spi.xfer([speed])
97 while self.IsBusy(): 97 while self.IsBusy():
98 pass 98 pass
99 time.sleep(0.3) 99 time.sleep(0.3)
100 self.ReleaseSW() 100 self.ReleaseSW()
101   101  
102 def Move(self, units): 102 def Move(self, units):
103 ' Move some distance units from current position ' 103 ' Move some distance units from current position '
104 steps = units * self.SPU # translate units to steps 104 steps = units * self.SPU # translate units to steps
105 if steps > 0: # look for direction 105 if steps > 0: # look for direction
106 self.spi.xfer([0x40 | (~self.Dir & 1)]) 106 self.spi.xfer([0x40 | (~self.Dir & 1)])
107 else: 107 else:
108 self.spi.xfer([0x40 | (self.Dir & 1)]) 108 self.spi.xfer([0x40 | (self.Dir & 1)])
109 steps = int(abs(steps)) 109 steps = int(abs(steps))
110 self.spi.xfer([(steps >> 16) & 0xFF]) 110 self.spi.xfer([(steps >> 16) & 0xFF])
111 self.spi.xfer([(steps >> 8) & 0xFF]) 111 self.spi.xfer([(steps >> 8) & 0xFF])
112 self.spi.xfer([steps & 0xFF]) 112 self.spi.xfer([steps & 0xFF])
113   113  
114 def MoveWait(self, units): 114 def MoveWait(self, units):
115 ' Move some distance units from current position and wait for execution ' 115 ' Move some distance units from current position and wait for execution '
116 self.Move(units) 116 self.Move(units)
117 while self.IsBusy(): 117 while self.IsBusy():
118 pass 118 pass
-   119 time.sleep(0.8)
119   120  
120 def Float(self): 121 def Float(self):
121 ' switch H-bridge to High impedance state ' 122 ' switch H-bridge to High impedance state '
122 self.spi.xfer([0xA0]) 123 self.spi.xfer([0xA0])
123   124  
124 def ReadStatusBit(self, bit): 125 def ReadStatusBit(self, bit):
125 ' Report given status bit ' 126 ' Report given status bit '
126 self.spi.xfer([0x39]) # Read from address 0x19 (STATUS) 127 self.spi.xfer([0x39]) # Get status command
127 self.spi.xfer([0x00]) -  
128 data = self.spi.readbytes(2) # 1st byte 128 data = self.spi.readbytes(1) # 1st byte
129 #self.spi.xfer([0x00]) -  
130 #data1 = self.spi.readbytes(1) # 2nd byte 129 data = data + (self.spi.readbytes(1)) # 1st byte
131 #print hex(data0), hex(data1) 130 print data
132 if bit > 7: # extract requested bit 131 if bit > 7: # extract requested bit
133 OutputBit = (data[0] >> (bit - 8)) & 1 132 OutputBit = (data[0] >> (bit - 8)) & 1
134 else: 133 else:
135 OutputBit = (data[1] >> bit) & 1 134 OutputBit = (data[1] >> bit) & 1
136 return OutputBit 135 return OutputBit
137   136  
-   137  
138 138
139 def IsBusy(self): 139 def IsBusy(self):
140 """ Return True if tehre are motion """ 140 """ Return True if tehre are motion """
141 if self.ReadStatusBit(1) == 1: 141 if self.ReadStatusBit(1) == 1:
142 return False 142 return False
143 else: 143 else:
144 return True 144 return True
145   145  
146 # End Class axis -------------------------------------------------- 146 # End Class axis --------------------------------------------------
147   147  
148 print "Stepper motor control test started. \r\n" 148 print "Stepper motor control test started. \r\n"
149 print "Max motor speed: %d " % SPEED 149 print "Max motor speed: %d " % SPEED
150 print "Distance to run: %d " % DISTANCE 150 print "Distance to run: %d " % DISTANCE
151   151  
152 try: 152 try:
153 print "SPI configuration.." 153 print "SPI configuration.."
154 spi = spidev.SpiDev() # create a spi object 154 spi = spidev.SpiDev() # create a spi object
155 spi.open(0, 0) # open spi port 0, device (CS) 0 155 spi.open(0, 0) # open spi port 0, device (CS) 0
156 spi.mode = 1 156 spi.mode = 0b01
157 spi.lsbfirst = False 157 spi.lsbfirst = False
158 spi.bits_per_word = 8 158 spi.bits_per_word = 8
159 spi.cshigh = False 159 spi.cshigh = False
160 #spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz) 160 #spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz)
161 time.sleep(1) 161 time.sleep(1)
162   162  
163 print "Axis inicialization" 163 print "Axis inicialization"
164 X = axis(spi, 0, 641) # set Number of Steps per axis Unit and set Direction of Rotation 164 X = axis(spi, 0, 641) # set Number of Steps per axis Unit and set Direction of Rotation
165 X.MaxSpeed(SPEED) # set maximal motor speed 165 X.MaxSpeed(SPEED) # set maximal motor speed
166   166  
167 print "Axis is running" 167 print "Axis is running"
168   168  
169 for i in range(5): 169 for i in range(5):
170 print i 170 print i
171 X.MoveWait(DISTANCE) # move forward and wait for motor stop 171 X.MoveWait(DISTANCE) # move forward and wait for motor stop
172 print "Changing direction of rotation.." 172 print "Changing direction of rotation.."
-   173 time.sleep(1.1)
173 X.MoveWait(-DISTANCE) # move backward and wait for motor stop 174 X.MoveWait(-DISTANCE) # move backward and wait for motor stop
174 print "Changing direction of rotation.." 175 print "Changing direction of rotation.."
175   -  
-   176 time.sleep(1.1)
176 X.Float() # release power 177 X.Float() # release power
177   178  
178   179  
179 finally: 180 finally:
180 print "stop" 181 print "stop"