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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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#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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import sys |
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import sys |
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import time |
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import time |
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from pymlab import config |
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from pymlab import config |
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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 = 5000 |
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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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|
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# Begin of Class Axis -------------------------------------------------- |
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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_CS, Direction, StepsPerUnit, MaxSpeed): |
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def __init__(self, SPI_CS, Direction, StepsPerUnit, MaxSpeed): |
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' One axis of robot ' |
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' One axis of robot ' |
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self.CS = SPI_CS |
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self.CS = SPI_CS |
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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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self.MaxSpeed(self.maxspeed) |
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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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spi.SPI_write_byte(self.CS, 0xC0) # reset |
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spi.SPI_write_byte(self.CS, 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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# spi.SPI_write_byte(self.CS, 0x14) # Stall Treshold setup |
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# spi.SPI_write_byte(self.CS, 0x14) # Stall Treshold setup |
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# spi.SPI_write_byte(self.CS, 0xFF) |
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# spi.SPI_write_byte(self.CS, 0xFF) |
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# spi.SPI_write_byte(self.CS, 0x13) # Over Current Treshold setup |
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# spi.SPI_write_byte(self.CS, 0x13) # Over Current Treshold setup |
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# spi.SPI_write_byte(self.CS, 0xFF) |
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# spi.SPI_write_byte(self.CS, 0xFF) |
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spi.SPI_write_byte(self.CS, 0x15) # Full Step speed |
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spi.SPI_write_byte(self.CS, 0x15) # Full Step speed |
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spi.SPI_write_byte(self.CS, 0xFF) |
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spi.SPI_write_byte(self.CS, 0xFF) |
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spi.SPI_write_byte(self.CS, 0xFF) |
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spi.SPI_write_byte(self.CS, 0xFF) |
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spi.SPI_write_byte(self.CS, 0x05) # ACC |
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spi.SPI_write_byte(self.CS, 0x05) # ACC |
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spi.SPI_write_byte(self.CS, 0x00) |
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spi.SPI_write_byte(self.CS, 0x00) |
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spi.SPI_write_byte(self.CS, 0x10) |
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spi.SPI_write_byte(self.CS, 0x10) |
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spi.SPI_write_byte(self.CS, 0x06) # DEC |
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spi.SPI_write_byte(self.CS, 0x06) # DEC |
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spi.SPI_write_byte(self.CS, 0x00) |
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spi.SPI_write_byte(self.CS, 0x00) |
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spi.SPI_write_byte(self.CS, 0x10) |
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spi.SPI_write_byte(self.CS, 0x10) |
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spi.SPI_write_byte(self.CS, self.L6470_KVAL_RUN) # KVAL_RUN |
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spi.SPI_write_byte(self.CS, self.L6470_KVAL_RUN) # KVAL_RUN |
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spi.SPI_write_byte(self.CS, 0x58) |
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spi.SPI_write_byte(self.CS, 0x58) |
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spi.SPI_write_byte(self.CS, self.L6470_KVAL_ACC) # KVAL_ACC |
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spi.SPI_write_byte(self.CS, self.L6470_KVAL_ACC) # KVAL_ACC |
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spi.SPI_write_byte(self.CS, 0x58) |
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spi.SPI_write_byte(self.CS, 0x58) |
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spi.SPI_write_byte(self.CS, self.L6470_KVAL_DEC) # KVAL_DEC |
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spi.SPI_write_byte(self.CS, self.L6470_KVAL_DEC) # KVAL_DEC |
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spi.SPI_write_byte(self.CS, 0x58) |
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spi.SPI_write_byte(self.CS, 0x58) |
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# spi.SPI_write_byte(self.CS, 0x18) # CONFIG |
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# spi.SPI_write_byte(self.CS, 0x18) # CONFIG |
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# spi.SPI_write_byte(self.CS, 0b00111000) |
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# spi.SPI_write_byte(self.CS, 0b00111000) |
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# spi.SPI_write_byte(self.CS, 0b00000000) |
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# spi.SPI_write_byte(self.CS, 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 setKVAL(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): |
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def setKVAL(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): |
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""" The available range is from 0 to 0.996 x VS with a resolution of 0.004 x VS """ |
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""" The available range is from 0 to 0.996 x VS with a resolution of 0.004 x VS """ |
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|
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|
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def setOverCurrentTH(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): |
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def setOverCurrentTH(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): |
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""" The available range is from 375 mA to 6 A, in steps of 375 mA """ |
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""" The available range is from 375 mA to 6 A, in steps of 375 mA """ |
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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 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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print data |
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print data |
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spi.SPI_write_byte(self.CS, self.L6470_MAX_SPEED) # Max Speed setup |
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spi.SPI_write_byte(self.CS, self.L6470_MAX_SPEED) # Max Speed setup |
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spi.SPI_write_byte(self.CS, data[0]) |
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spi.SPI_write_byte(self.CS, data[0]) |
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spi.SPI_write_byte(self.CS, data[1]) |
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spi.SPI_write_byte(self.CS, 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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spi.SPI_write_byte(self.CS, 0x92 | (~self.Dir & 1)) # release SW |
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spi.SPI_write_byte(self.CS, 0x92 | (~self.Dir & 1)) # release SW |
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while self.IsBusy(): |
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while self.IsBusy(): |
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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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|
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|
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spi.SPI_write_byte(self.CS, 0x82 | (self.Dir & 1)) # Go to Zero |
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spi.SPI_write_byte(self.CS, 0x82 | (self.Dir & 1)) # Go to Zero |
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spi.SPI_write_byte(self.CS, 0x00) |
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spi.SPI_write_byte(self.CS, 0x00) |
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spi.SPI_write_byte(self.CS, speed) |
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spi.SPI_write_byte(self.CS, speed) |
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while self.IsBusy(): |
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while self.IsBusy(): |
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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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|
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def GetStatus(self): |
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|
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#self.spi.xfer([0b11010000]) # Get status command from datasheet - does not work for uknown rasons |
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|
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spi.SPI_write_byte(self.CS, 0x39) # Gotparam command on status register |
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|
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spi.SPI_write_byte(self.CS, 0x00) |
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|
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data = spi.SPI_read_byte() |
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|
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spi.SPI_write_byte(self.CS, 0x00) |
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|
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data = data + spi.SPI_read_byte() |
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|
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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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|
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('STEP_LOSS_B',data[0] & 0x40 == 0x40), |
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|
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('STEP_LOSS_A',data[0] & 0x20 == 0x20), |
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|
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('OCD',data[0] & 0x10 == 0x10), |
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|
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('TH_SD',data[0] & 0x08 == 0x08), |
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|
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('TH_WRN',data[0] & 0x04 == 0x04), |
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|
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('UVLO',data[0] & 0x02 == 0x02), |
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|
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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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|
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('NOTPERF_CMD',data[1] & 0x80 == 0x80), |
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|
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('MOT_STATUS',data[1] & 0x60), |
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|
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('DIR',data[1] & 0x10 == 0x10), |
- |
|
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('SW_EVN',data[1] & 0x08 == 0x08), |
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|
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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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|
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('BUSY',data[1] & 0x02 != 0x02), |
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|
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('HIZ',data[1] & 0x01 == 0x01)]) |
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|
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return status |
- |
|
181 |
|
- |
|
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def GetACC(self): |
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|
183 |
# self.spi.xfer([0x29]) # Gotparam command on status register |
- |
|
184 |
spi.SPI_write_byte(self.CS, self.L6470_ACC + 0x20) # TODO check register read address seting |
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|
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spi.SPI_write_byte(self.CS, 0x00) |
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|
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data = spi.SPI_read_byte() |
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|
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spi.SPI_write_byte(self.CS, 0x00) |
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|
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data = data + self.spi.readbytes(1) |
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|
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print data # return speed in real units |
- |
|
190 |
|
- |
|
191 |
|
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def Move(self, units): |
192 |
def Move(self, units): |
156 |
' Move some distance units from current position ' |
193 |
' Move some distance units from current position ' |
157 |
steps = units * self.SPU # translate units to steps |
194 |
steps = units * self.SPU # translate units to steps |
158 |
if steps > 0: # look for direction |
195 |
if steps > 0: # look for direction |
159 |
spi.SPI_write_byte(self.CS, 0x40 | (~self.Dir & 1)) |
196 |
spi.SPI_write_byte(self.CS, 0x40 | (~self.Dir & 1)) |
160 |
else: |
197 |
else: |
161 |
spi.SPI_write_byte(self.CS, 0x40 | (self.Dir & 1)) |
198 |
spi.SPI_write_byte(self.CS, 0x40 | (self.Dir & 1)) |
162 |
steps = int(abs(steps)) |
199 |
steps = int(abs(steps)) |
163 |
spi.SPI_write_byte(self.CS, (steps >> 16) & 0xFF) |
200 |
spi.SPI_write_byte(self.CS, (steps >> 16) & 0xFF) |
164 |
spi.SPI_write_byte(self.CS, (steps >> 8) & 0xFF) |
201 |
spi.SPI_write_byte(self.CS, (steps >> 8) & 0xFF) |
165 |
spi.SPI_write_byte(self.CS, steps & 0xFF) |
202 |
spi.SPI_write_byte(self.CS, steps & 0xFF) |
166 |
|
203 |
|
167 |
def Run(self, direction, speed): |
204 |
def Run(self, direction, speed): |
168 |
speed_value = int(speed / 0.015) |
205 |
speed_value = int(speed / 0.015) |
169 |
print hex(speed_value) |
206 |
print hex(speed_value) |
170 |
|
207 |
|
171 |
command = 0b01010000 + int(direction) |
208 |
command = 0b01010000 + int(direction) |
172 |
data = [(speed_value >> i & 0xff) for i in (16,8,0)] |
209 |
data = [(speed_value >> i & 0xff) for i in (16,8,0)] |
173 |
spi.SPI_write_byte(self.CS, command) # Max Speed setup |
210 |
spi.SPI_write_byte(self.CS, command) # Max Speed setup |
174 |
spi.SPI_write_byte(self.CS, data[0]) |
211 |
spi.SPI_write_byte(self.CS, data[0]) |
175 |
spi.SPI_write_byte(self.CS, data[1]) |
212 |
spi.SPI_write_byte(self.CS, data[1]) |
176 |
spi.SPI_write_byte(self.CS, data[2]) |
213 |
spi.SPI_write_byte(self.CS, data[2]) |
177 |
return (speed_value * 0.015) |
214 |
return (speed_value * 0.015) |
178 |
|
215 |
|
179 |
def MoveWait(self, units): |
216 |
def MoveWait(self, units): |
180 |
' Move some distance units from current position and wait for execution ' |
217 |
' Move some distance units from current position and wait for execution ' |
181 |
self.Move(units) |
218 |
self.Move(units) |
182 |
while self.IsBusy(): |
219 |
while self.GetStatus()['BUSY']: |
183 |
pass |
220 |
time.sleep(0.1) |
184 |
|
221 |
|
185 |
def Float(self, hard = False): |
222 |
def Float(self, hard = False): |
186 |
' switch H-bridge to High impedance state ' |
223 |
' switch H-bridge to High impedance state ' |
187 |
if (hard == False): |
224 |
if (hard == False): |
188 |
spi.SPI_write_byte(self.CS, 0xA0) |
225 |
spi.SPI_write_byte(self.CS, 0xA0) |
189 |
else: |
226 |
else: |
190 |
spi.SPI_write_byte(self.CS, 0xA8) |
227 |
spi.SPI_write_byte(self.CS, 0xA8) |
191 |
|
228 |
|
192 |
def ReadStatusBit(self, bit): |
- |
|
193 |
' Report given status bit ' |
- |
|
194 |
spi.SPI_write_byte(self.CS, 0x39) # Read from address 0x19 (STATUS) |
- |
|
195 |
spi.SPI_write_byte(self.CS, 0x00) |
- |
|
196 |
data0 = spi.SPI_read_byte() # 1st byte |
- |
|
197 |
spi.SPI_write_byte(self.CS, 0x00) |
- |
|
198 |
data1 = spi.SPI_read_byte() # 2nd byte |
- |
|
199 |
#print hex(data0), hex(data1) |
- |
|
200 |
if bit > 7: # extract requested bit |
- |
|
201 |
OutputBit = (data0 >> (bit - 8)) & 1 |
- |
|
202 |
else: |
- |
|
203 |
OutputBit = (data1 >> bit) & 1 |
- |
|
204 |
return OutputBit |
- |
|
205 |
|
- |
|
206 |
|
- |
|
207 |
def IsBusy(self): |
- |
|
208 |
""" Return True if tehre are motion """ |
- |
|
209 |
if self.ReadStatusBit(1) == 1: |
- |
|
210 |
return False |
- |
|
211 |
else: |
- |
|
212 |
return True |
- |
|
213 |
|
229 |
|
214 |
# End Class axis -------------------------------------------------- |
230 |
# End Class axis -------------------------------------------------- |
215 |
|
231 |
|
216 |
|
232 |
|
217 |
|
233 |
|
218 |
cfg = config.Config( |
234 |
cfg = config.Config( |
219 |
i2c = { |
235 |
i2c = { |
220 |
"port": 1, |
236 |
"port": 1, |
221 |
}, |
237 |
}, |
222 |
|
238 |
|
223 |
bus = [ |
239 |
bus = [ |
224 |
{ |
240 |
{ |
225 |
"name":"spi", |
241 |
"name":"spi", |
226 |
"type":"i2cspi", |
242 |
"type":"i2cspi", |
227 |
"address": 0x2e, |
243 |
"address": 0x2e, |
228 |
}, |
244 |
}, |
229 |
], |
245 |
], |
230 |
) |
246 |
) |
231 |
|
247 |
|
232 |
|
248 |
|
233 |
cfg.initialize() |
249 |
cfg.initialize() |
234 |
|
250 |
|
235 |
print "Stepper motor control test started. \r\n" |
251 |
print "Stepper motor control test started. \r\n" |
236 |
print "Max motor speed: %d " % SPEED |
252 |
print "Max motor speed: %d " % SPEED |
237 |
print "Distance to run: %d " % DISTANCE |
253 |
print "Distance to run: %d " % DISTANCE |
238 |
|
254 |
|
239 |
spi = cfg.get_device("spi") |
255 |
spi = cfg.get_device("spi") |
240 |
|
256 |
|
241 |
spi.route() |
257 |
spi.route() |
242 |
|
258 |
|
243 |
try: |
259 |
try: |
244 |
print "SPI configuration.." |
260 |
print "SPI configuration.." |
245 |
spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz) |
261 |
spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz) |
246 |
time.sleep(1) |
262 |
time.sleep(1) |
247 |
|
263 |
|
248 |
print "Axis inicialization" |
264 |
print "Axis inicialization" |
249 |
X = axis(spi.I2CSPI_SS0, 0, 1, MaxSpeed = SPEED) # set Number of Steps per axis Unit and set Direction of Rotation |
265 |
X = axis(spi.I2CSPI_SS0, 0, 1, MaxSpeed = SPEED) # set Number of Steps per axis Unit and set Direction of Rotation |
250 |
X.MaxSpeed(SPEED) # set maximal motor speed |
266 |
X.MaxSpeed(SPEED) # Reset maximal motor speed |
251 |
|
267 |
|
252 |
print "Axis is running" |
268 |
print "Axis is running" |
253 |
|
269 |
|
254 |
for i in range(5): |
270 |
for i in range(5): |
255 |
print i |
271 |
print i |
256 |
X.MoveWait(DISTANCE) # move forward and wait for motor stop |
272 |
X.MoveWait(DISTANCE) # move forward and wait for motor stop |
257 |
print "Changing direction of rotation.." |
273 |
print "Changing direction of rotation.." |
258 |
X.MoveWait(-DISTANCE) # move backward and wait for motor stop |
274 |
X.MoveWait(-DISTANCE) # move backward and wait for motor stop |
259 |
print "Changing direction of rotation.." |
275 |
print "Changing direction of rotation.." |
260 |
|
276 |
|
261 |
time.sleep(1) |
277 |
time.sleep(1) |
262 |
|
278 |
|
263 |
X.Run(1, SPEED/2) |
279 |
X.Run(1, SPEED/2) |
264 |
|
280 |
|
265 |
time.sleep(5) |
281 |
time.sleep(5) |
266 |
|
282 |
|
267 |
X.Float(hard = False) # release power |
283 |
X.Float(hard = False) # release power |
268 |
|
284 |
|
269 |
|
285 |
|
270 |
finally: |
286 |
finally: |
271 |
print "stop" |
287 |
print "stop" |