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#!/usr/bin/python |
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#!/usr/bin/python |
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# ------------------------------------------- |
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# ------------------------------------------- |
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# HBSTEP01B Stepper Motor control test code |
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# HBSTEP01B Stepper Motor control test code |
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# ------------------------------------------- |
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# ------------------------------------------- |
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# |
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# |
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# Program uses MLAB Python modules library from https://github.com/MLAB-project/pymlab |
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# Program uses MLAB Python modules library from https://github.com/MLAB-project/pymlab |
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|
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|
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|
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|
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#uncomment for debbug purposes |
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#uncomment for debbug purposes |
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import logging |
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import logging |
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logging.basicConfig(level=logging.DEBUG) |
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logging.basicConfig(level=logging.DEBUG) |
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|
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|
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import sys |
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import sys |
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import time |
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import time |
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import spidev |
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import spidev |
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|
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|
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#### Script Arguments ############################################### |
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#### Script Arguments ############################################### |
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|
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|
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if len(sys.argv) < 2: |
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if len(sys.argv) < 2: |
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sys.stderr.write("Invalid number of arguments.\n") |
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sys.stderr.write("Invalid number of arguments.\n") |
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sys.stderr.write("Usage: %s PORT ADDRESS SPEED MOVE_DISTANCE\n" % (sys.argv[0], )) |
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sys.stderr.write("Usage: %s PORT ADDRESS SPEED MOVE_DISTANCE\n" % (sys.argv[0], )) |
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sys.exit(1) |
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sys.exit(1) |
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|
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|
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elif len(sys.argv) == 2: |
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elif len(sys.argv) == 2: |
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PORT = eval(sys.argv[1]) |
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PORT = eval(sys.argv[1]) |
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SPEED = 50 |
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SPEED = 50 |
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DISTANCE = 5000 |
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DISTANCE = 500 |
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|
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|
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elif len(sys.argv) == 3: |
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elif len(sys.argv) == 3: |
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SPEED = eval(sys.argv[2]) |
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SPEED = eval(sys.argv[2]) |
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DISTANCE = 1000 |
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DISTANCE = 1000 |
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|
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|
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elif len(sys.argv) == 4: |
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elif len(sys.argv) == 4: |
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SPEED = eval(sys.argv[2]) |
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SPEED = eval(sys.argv[2]) |
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DISTANCE = eval(sys.argv[3]) |
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DISTANCE = eval(sys.argv[3]) |
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|
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|
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else: |
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else: |
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PORT = 0 |
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PORT = 0 |
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SPEED = 20 |
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SPEED = 20 |
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DISTANCE = 5000 |
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DISTANCE = 5000 |
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|
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|
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class axis: |
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class axis: |
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def __init__(self, SPI_handler, Direction, StepsPerUnit, MaxSpeed): |
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def __init__(self, SPI_handler, Direction, StepsPerUnit, MaxSpeed): |
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' One axis of robot ' |
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' One axis of robot ' |
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self.spi = SPI_handler |
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self.spi = SPI_handler |
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self.Dir = Direction |
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self.Dir = Direction |
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self.SPU = StepsPerUnit |
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self.SPU = StepsPerUnit |
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self.maxspeed = MaxSpeed |
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self.maxspeed = MaxSpeed |
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|
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|
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self.L6470_ABS_POS =0x01 |
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self.L6470_ABS_POS =0x01 |
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self.L6470_EL_POS =0x02 |
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self.L6470_EL_POS =0x02 |
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self.L6470_MARK =0x03 |
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self.L6470_MARK =0x03 |
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self.L6470_SPEED =0x04 |
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self.L6470_SPEED =0x04 |
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self.L6470_ACC =0x05 |
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self.L6470_ACC =0x05 |
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self.L6470_DEC =0x06 |
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self.L6470_DEC =0x06 |
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self.L6470_MAX_SPEED =0x07 |
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self.L6470_MAX_SPEED =0x07 |
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self.L6470_MIN_SPEED =0x08 |
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self.L6470_MIN_SPEED =0x08 |
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self.L6470_FS_SPD =0x15 |
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self.L6470_FS_SPD =0x15 |
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self.L6470_KVAL_HOLD =0x09 |
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self.L6470_KVAL_HOLD =0x09 |
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self.L6470_KVAL_RUN =0x0A |
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self.L6470_KVAL_RUN =0x0A |
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self.L6470_KVAL_ACC =0x0B |
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self.L6470_KVAL_ACC =0x0B |
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self.L6470_KVAL_DEC =0x0C |
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self.L6470_KVAL_DEC =0x0C |
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self.L6470_INT_SPEED =0x0D |
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self.L6470_INT_SPEED =0x0D |
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self.L6470_ST_SLP =0x0E |
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self.L6470_ST_SLP =0x0E |
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self.L6470_FN_SLP_ACC =0x0F |
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self.L6470_FN_SLP_ACC =0x0F |
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self.L6470_FN_SLP_DEC =0x10 |
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self.L6470_FN_SLP_DEC =0x10 |
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self.L6470_K_THERM =0x11 |
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self.L6470_K_THERM =0x11 |
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self.L6470_ADC_OUT =0x12 |
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self.L6470_ADC_OUT =0x12 |
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self.L6470_OCD_TH =0x13 |
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self.L6470_OCD_TH =0x13 |
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self.L6470_STALL_TH =0x14 |
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self.L6470_STALL_TH =0x14 |
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self.L6470_STEP_MODE =0x16 |
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self.L6470_STEP_MODE =0x16 |
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self.L6470_ALARM_EN =0x17 |
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self.L6470_ALARM_EN =0x17 |
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self.L6470_CONFIG =0x18 |
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self.L6470_CONFIG =0x18 |
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self.L6470_STATUS =0x19 |
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self.L6470_STATUS =0x19 |
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|
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|
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self.Reset() |
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# self.Reset() |
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self.Initialize() |
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# self.Initialize() |
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|
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|
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|
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|
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|
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|
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|
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|
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def Reset(self): |
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def Reset(self): |
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'Reset the Axis' |
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'Reset the Axis' |
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self.spi.xfer([0xC0]) # reset |
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self.spi.xfer([0xC0]) # reset |
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|
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|
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def Initialize(self): |
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def Initialize(self): |
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'set default parameters for H-bridge ' |
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'set default parameters for H-bridge ' |
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# self.spi.xfer( 0x14) # Stall Treshold setup |
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# self.spi.xfer( 0x14) # Stall Treshold setup |
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# self.spi.xfer( 0xFF) |
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# self.spi.xfer( 0xFF) |
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# self.spi.xfer( 0x13) # Over Current Treshold setup |
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# self.spi.xfer( 0x13) # Over Current Treshold setup |
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# self.spi.xfer( 0xFF) |
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# self.spi.xfer( 0xFF) |
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self.spi.xfer([0x15]) # Full Step speed |
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# self.spi.xfer([0x15]) # Full Step speed |
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self.spi.xfer([0xFF]) |
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# self.spi.xfer([0xFF]) |
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|
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# self.spi.xfer([0xFF]) |
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self.spi.xfer([0xFF]) |
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# self.spi.xfer([0xFF]) |
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self.spi.xfer([0x05]) # ACC |
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self.spi.xfer([0x05]) # ACC |
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self.spi.xfer([0x00]) |
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self.spi.xfer([0x00]) |
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self.spi.xfer([0x10]) |
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self.spi.xfer([0x10]) |
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self.spi.xfer([0x06]) # DEC |
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self.spi.xfer([0x06]) # DEC |
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self.spi.xfer([0x00]) |
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self.spi.xfer([0x00]) |
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self.spi.xfer([0x10]) |
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self.spi.xfer([0x10]) |
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self.spi.xfer([self.L6470_KVAL_RUN]) # KVAL_RUN |
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self.spi.xfer([self.L6470_KVAL_RUN]) # KVAL_RUN |
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self.spi.xfer([0x50]) |
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self.spi.xfer([0x50]) |
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self.spi.xfer([self.L6470_KVAL_ACC]) # KVAL_ACC |
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self.spi.xfer([self.L6470_KVAL_ACC]) # KVAL_ACC |
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self.spi.xfer([0x50]) |
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self.spi.xfer([0x50]) |
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self.spi.xfer([self.L6470_KVAL_DEC]) # KVAL_DEC |
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self.spi.xfer([self.L6470_KVAL_DEC]) # KVAL_DEC |
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self.spi.xfer([0x50]) |
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self.spi.xfer([0x50]) |
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# self.spi.xfer([0x18]) # CONFIG |
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# self.spi.xfer([0x18]) # CONFIG |
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# self.spi.xfer([0b00111000]) |
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# self.spi.xfer([0b00111000]) |
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# self.spi.xfer([0b00000000]) |
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# self.spi.xfer([0b00000000]) |
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self.MaxSpeed(self.maxspeed) |
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# self.MaxSpeed(self.maxspeed) |
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|
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|
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def MaxSpeed(self, speed): |
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def MaxSpeed(self, speed): |
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'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.' |
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'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.' |
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speed_value = int(speed / 15.25) |
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speed_value = int(speed / 15.25) |
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if (speed_value <= 0): |
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if (speed_value <= 0): |
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speed_value = 1 |
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speed_value = 1 |
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elif (speed_value >= 1023): |
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elif (speed_value >= 1023): |
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speed_value = 1023 |
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speed_value = 1023 |
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|
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|
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data = [(speed_value >> i & 0xff) for i in (8,0)] |
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data = [(speed_value >> i & 0xff) for i in (8,0)] |
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self.spi.xfer([self.L6470_MAX_SPEED]) # Max Speed setup |
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self.spi.xfer([self.L6470_MAX_SPEED]) # Max Speed setup |
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self.spi.xfer([data[0]]) |
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self.spi.xfer([data[0]]) |
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self.spi.xfer([data[1]]) |
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self.spi.xfer([data[1]]) |
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return (speed_value * 15.25) |
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return (speed_value * 15.25) |
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|
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|
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def ReleaseSW(self): |
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def ReleaseSW(self): |
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' Go away from Limit Switch ' |
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' Go away from Limit Switch ' |
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while self.ReadStatusBit(2) == 1: # is Limit Switch ON ? |
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while self.ReadStatusBit(2) == 1: # is Limit Switch ON ? |
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self.spi.xfer([0x92 | (~self.Dir & 1)]) # release SW |
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self.spi.xfer([0x92 | (~self.Dir & 1)]) # release SW |
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while self.GetStatus()['BUSY']: |
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while self.GetStatus()['BUSY']: |
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pass |
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pass |
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self.MoveWait(10) # move 10 units away |
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self.MoveWait(10) # move 10 units away |
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|
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|
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def GoZero(self, speed): |
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def GoZero(self, speed): |
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' Go to Zero position ' |
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' Go to Zero position ' |
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self.ReleaseSW() |
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self.ReleaseSW() |
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self.spi.xfer([0x82 | (self.Dir & 1)]) # Go to Zero |
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self.spi.xfer([0x82 | (self.Dir & 1)]) # Go to Zero |
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self.spi.xfer([0x00]) |
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self.spi.xfer([0x00]) |
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self.spi.xfer([speed]) |
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self.spi.xfer([speed]) |
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while self.GetStatus()['BUSY']: |
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while self.GetStatus()['BUSY']: |
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pass |
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pass |
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time.sleep(0.3) |
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time.sleep(0.3) |
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self.ReleaseSW() |
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self.ReleaseSW() |
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|
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|
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def GetStatus(self): |
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def GetStatus(self): |
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#self.spi.xfer([0b11010000]) # Get status command from datasheet - does not work for uknown rasons |
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#self.spi.xfer([0b11010000]) # Get status command from datasheet - does not work for uknown rasons |
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self.spi.xfer([0x39]) # Gotparam command on status register |
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self.spi.xfer([0x39]) # Gotparam command on status register |
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data = self.spi.readbytes(1) |
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data = self.spi.readbytes(1) |
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data = data + self.spi.readbytes(1) |
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data = data + self.spi.readbytes(1) |
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|
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|
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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 |
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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 |
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('STEP_LOSS_B',data[0] & 0x40 == 0x40), |
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('STEP_LOSS_B',data[0] & 0x40 == 0x40), |
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('STEP_LOSS_A',data[0] & 0x20 == 0x20), |
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('STEP_LOSS_A',data[0] & 0x20 == 0x20), |
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('OCD',data[0] & 0x10 == 0x10), |
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('OCD',data[0] & 0x10 == 0x10), |
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('TH_SD',data[0] & 0x08 == 0x08), |
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('TH_SD',data[0] & 0x08 == 0x08), |
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('TH_WRN',data[0] & 0x04 == 0x04), |
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('TH_WRN',data[0] & 0x04 == 0x04), |
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('UVLO',data[0] & 0x02 == 0x02), |
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('UVLO',data[0] & 0x02 == 0x02), |
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('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. |
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('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. |
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('NOTPERF_CMD',data[1] & 0x80 == 0x80), |
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('NOTPERF_CMD',data[1] & 0x80 == 0x80), |
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('MOT_STATUS',data[1] & 0x60), |
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('MOT_STATUS',data[1] & 0x60), |
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('DIR',data[1] & 0x10 == 0x10), |
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('DIR',data[1] & 0x10 == 0x10), |
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('SW_EVN',data[1] & 0x08 == 0x08), |
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('SW_EVN',data[1] & 0x08 == 0x08), |
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('SW_F',data[1] & 0x04 == 0x04), #The SW_F flag reports the SW input status (low for open and high for closed). |
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('SW_F',data[1] & 0x04 == 0x04), #The SW_F flag reports the SW input status (low for open and high for closed). |
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('BUSY',data[1] & 0x02 != 0x02), |
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('BUSY',data[1] & 0x02 != 0x02), |
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('HIZ',data[1] & 0x01 == 0x01)]) |
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('HIZ',data[1] & 0x01 == 0x01)]) |
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return status |
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return status |
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|
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|
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|
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def GetACC(self): |
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|
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# self.spi.xfer([0x29]) # Gotparam command on status register |
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|
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self.spi.xfer([0x2D]) # Gotparam command on status register |
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|
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data = self.spi.readbytes(1) |
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|
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data = data + self.spi.readbytes(1) |
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|
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print data |
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|
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|
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def Move(self, units): |
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def Move(self, units): |
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' Move some distance units from current position ' |
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' Move some distance units from current position ' |
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steps = units * self.SPU # translate units to steps |
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steps = units * self.SPU # translate units to steps |
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if steps > 0: # look for direction |
176 |
if steps > 0: # look for direction |
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self.spi.xfer([0x40 | (~self.Dir & 1)]) |
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self.spi.xfer([0x40 | (~self.Dir & 1)]) |
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else: |
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else: |
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self.spi.xfer([0x40 | (self.Dir & 1)]) |
179 |
self.spi.xfer([0x40 | (self.Dir & 1)]) |
175 |
steps = int(abs(steps)) |
180 |
steps = int(abs(steps)) |
176 |
self.spi.xfer([(steps >> 16) & 0xFF]) |
181 |
self.spi.xfer([(steps >> 16) & 0xFF]) |
177 |
self.spi.xfer([(steps >> 8) & 0xFF]) |
182 |
self.spi.xfer([(steps >> 8) & 0xFF]) |
178 |
self.spi.xfer([steps & 0xFF]) |
183 |
self.spi.xfer([steps & 0xFF]) |
179 |
|
184 |
|
180 |
def Run(self, direction, speed): |
185 |
def Run(self, direction, speed): |
181 |
speed_value = int(speed / 0.015) |
186 |
speed_value = int(speed / 0.015) |
182 |
print hex(speed_value) |
187 |
print hex(speed_value) |
183 |
|
188 |
|
184 |
data = [0b01010000 + direction] |
189 |
data = [0b01010000 + direction] |
185 |
data = data +[(speed_value >> i & 0xff) for i in (16,8,0)] |
190 |
data = data +[(speed_value >> i & 0xff) for i in (16,8,0)] |
186 |
self.spi.xfer([data[0]]) # Max Speed setup |
191 |
self.spi.xfer([data[0]]) # Max Speed setup |
187 |
self.spi.xfer([data[1]]) |
192 |
self.spi.xfer([data[1]]) |
188 |
self.spi.xfer([data[2]]) |
193 |
self.spi.xfer([data[2]]) |
189 |
self.spi.xfer([data[3]]) |
194 |
self.spi.xfer([data[3]]) |
190 |
return (speed_value * 0.015) |
195 |
return (speed_value * 0.015) |
191 |
|
196 |
|
192 |
def MoveWait(self, units): |
197 |
def MoveWait(self, units): |
193 |
' Move some distance units from current position and wait for execution ' |
198 |
' Move some distance units from current position and wait for execution ' |
194 |
self.Move(units) |
199 |
self.Move(units) |
195 |
while self.GetStatus()['BUSY']: |
200 |
while self.GetStatus()['BUSY']: |
196 |
pass |
201 |
pass |
- |
|
202 |
print self.GetStatus() |
197 |
time.sleep(0.8) |
203 |
time.sleep(0.8) |
198 |
|
204 |
|
- |
|
205 |
|
199 |
def Float(self, hard = False): |
206 |
def Float(self, hard = False): |
200 |
' switch H-bridge to High impedance state ' |
207 |
' switch H-bridge to High impedance state ' |
201 |
if (hard == False): |
208 |
if (hard == False): |
202 |
self.spi.xfer([0xA0]) |
209 |
self.spi.xfer([0xA0]) |
203 |
else: |
210 |
else: |
204 |
self.spi.xfer([0xA8]) |
211 |
self.spi.xfer([0xA8]) |
205 |
|
212 |
|
206 |
|
213 |
|
207 |
# End Class axis -------------------------------------------------- |
214 |
# End Class axis -------------------------------------------------- |
208 |
|
215 |
|
209 |
print "Stepper motor control test started. \r\n" |
216 |
print "Stepper motor control test started. \r\n" |
210 |
print "Max motor speed: %f " % SPEED |
217 |
print "Max motor speed: %f " % SPEED |
211 |
print "Distance to run: %f " % DISTANCE |
218 |
print "Distance to run: %f " % DISTANCE |
212 |
|
219 |
|
213 |
try: |
220 |
try: |
214 |
print "SPI configuration.." |
221 |
print "SPI configuration.." |
215 |
spi = spidev.SpiDev() # create a spi object |
222 |
spi = spidev.SpiDev() # create a spi object |
216 |
spi.open(0, 0) # open spi port 0, device (CS) 0 |
223 |
spi.open(0, 0) # open spi port 0, device (CS) 0 |
217 |
spi.mode = 0b01 |
224 |
spi.mode = 0b01 |
218 |
spi.lsbfirst = False |
225 |
spi.lsbfirst = False |
219 |
spi.bits_per_word = 8 |
226 |
spi.bits_per_word = 8 |
220 |
spi.cshigh = False |
227 |
spi.cshigh = False |
221 |
spi.max_speed_hz = 100000 |
228 |
spi.max_speed_hz = 100000 |
222 |
#spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz) |
229 |
#spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz) |
223 |
time.sleep(1) |
230 |
time.sleep(1) |
224 |
|
231 |
|
225 |
print "Axis inicialization" |
232 |
print "Axis inicialization" |
226 |
X = axis(spi, 0, 1, MaxSpeed = SPEED) # set Number of Steps per axis Unit and set Direction of Rotation |
233 |
X = axis(spi, 0, 1, MaxSpeed = SPEED) # set Number of Steps per axis Unit and set Direction of Rotation |
227 |
|
234 |
|
- |
|
235 |
#X.Reset() |
- |
|
236 |
|
- |
|
237 |
X.GetACC() |
- |
|
238 |
|
- |
|
239 |
exit() |
- |
|
240 |
|
- |
|
241 |
print X.GetStatus() |
- |
|
242 |
time.sleep(1) |
- |
|
243 |
|
- |
|
244 |
print "Setting maximal speed" |
228 |
print X.MaxSpeed(SPEED) # set maximal motor speed |
245 |
print X.MaxSpeed(SPEED) # set maximal motor speed |
- |
|
246 |
print X.GetStatus() |
- |
|
247 |
time.sleep(1) |
229 |
|
248 |
|
230 |
#print X.Run(1, 200.456431) |
249 |
print X.Run(1, 20.456431) |
- |
|
250 |
print X.GetStatus() |
231 |
#time.sleep(10) |
251 |
time.sleep(5) |
232 |
|
252 |
|
233 |
print "Axis is running" |
253 |
print "Axis is running" |
234 |
for i in range(5): |
254 |
for i in range(5): |
235 |
print i |
255 |
print i |
236 |
X.MoveWait(DISTANCE) # move forward and wait for motor stop |
256 |
X.MoveWait(DISTANCE) # move forward and wait for motor stop |
237 |
print "Changing direction of rotation.." |
257 |
print "Changing direction of rotation.." |
238 |
time.sleep(1.1) |
258 |
time.sleep(1.1) |
239 |
X.MoveWait(-DISTANCE) # move backward and wait for motor stop |
259 |
X.MoveWait(-DISTANCE) # move backward and wait for motor stop |
240 |
print "Changing direction of rotation.." |
260 |
print "Changing direction of rotation.." |
241 |
time.sleep(1.1) |
261 |
time.sleep(1.1) |
242 |
|
262 |
|
243 |
X.Float(hard=False) # release power |
263 |
X.Float(hard=False) # release power |
244 |
|
264 |
|
245 |
finally: |
265 |
finally: |
246 |
print "stop" |
266 |
print "stop" |