Rev 4247 Rev 4248
Line 84... Line 84...
84 """ switch H-bridge to High impedance state """ 84 """ switch H-bridge to High impedance state """
85 spi.SPI_write(self.CS, [0xA0]) 85 spi.SPI_write(self.CS, [0xA0])
86   86  
87 def ReadStatusBit(self, bit): 87 def ReadStatusBit(self, bit):
88 """ Report given status bit """ 88 """ Report given status bit """
-   89 try:
-   90 spi.SPI_write(self.CS, [0x39]) # Read from address 0x19 (STATUS)
-   91 spi.SPI_write(self.CS, [0x00])
-   92 data = spi.SPI_read(1) # 1st byte
-   93 spi.SPI_write(self.CS, [0x00])
-   94 data.extend(spi.SPI_read(1)) # 2nd byte
-   95 if bit > 7: # extract requested bit
-   96 OutputBit = (data[0] >> (bit - 8)) & 1
-   97 else:
-   98 OutputBit = (data[1] >> bit) & 1
-   99 return OutputBit
-   100 except IOError(): ### TODO
89 spi.SPI_write(self.CS, [0x39]) # Read from address 0x19 (STATUS) 101 spi.SPI_write(self.CS, [0x39]) # Read from address 0x19 (STATUS)
90 time.sleep(0.2) -  
91 spi.SPI_write(self.CS, [0x00]) 102 spi.SPI_write(self.CS, [0x00])
92 data = spi.SPI_read(1) # 1st byte 103 data = spi.SPI_read(1) # 1st byte
93 time.sleep(0.2) -  
94 spi.SPI_write(self.CS, [0x00]) 104 spi.SPI_write(self.CS, [0x00])
95 data.extend(spi.SPI_read(1)) # 2nd byte 105 data.extend(spi.SPI_read(1)) # 2nd byte
96 time.sleep(0.2) -  
97 if bit > 7: # extract requested bit 106 if bit > 7: # extract requested bit
98 OutputBit = (data[0] >> (bit - 8)) & 1 107 OutputBit = (data[0] >> (bit - 8)) & 1
99 else: 108 else:
100 OutputBit = (data[1] >> bit) & 1 109 OutputBit = (data[1] >> bit) & 1
101 return OutputBit 110 return OutputBit
-   111 finally:
-   112 pass
-   113  
102   114
103 def IsBusy(self): 115 def IsBusy(self):
104 """ Return True if tehre are motion """ 116 """ Return True if tehre are motion """
105 if self.ReadStatusBit(1) == 1: 117 if self.ReadStatusBit(1) == 1:
106 return False 118 return False
Line 145... Line 157...
145 X.GoZero(20) 157 X.GoZero(20)
146 Y.GoZero(20) 158 Y.GoZero(20)
147   159  
148 time.sleep(1) 160 time.sleep(1)
149   161  
150 X.Move(50*XSMM) 162 X.Move(30*XSMM)
151 Y.Move(50*YSMM) 163 Y.Move(50*YSMM)
152 Z.MoveWait(50*ZSMM) 164 Z.MoveWait(58*ZSMM)
-   165 X.Move(50*XSMM)
153 166
154 print "Robot is running" 167 print "Robot is running"
155   168  
156 for y in range(5): 169 for y in range(5):
157 for x in range(5): 170 for x in range(5):
158 Z.MoveWait(8*ZSMM) 171 Z.MoveWait(5*ZSMM)
159 time.sleep(1) 172 time.sleep(1)
160 Z.MoveWait(-8*ZSMM) 173 Z.MoveWait(-5*ZSMM)
-   174 if x < 4:
161 X.MoveWait(8*XSMM) 175 X.MoveWait(8*XSMM)
162 Y.MoveWait(8*YSMM) 176 Y.MoveWait(8*YSMM)
163 for x in range(5): 177 for x in range(5):
164 Z.MoveWait(8*ZSMM) 178 Z.MoveWait(5*ZSMM)
165 time.sleep(1) 179 time.sleep(1)
166 Z.MoveWait(-8*ZSMM) 180 Z.MoveWait(-5*ZSMM)
-   181 if x < 4:
167 X.MoveWait(-8*XSMM) 182 X.MoveWait(-8*XSMM)
168 Y.MoveWait(8*YSMM) 183 Y.MoveWait(8*YSMM)
169   184  
-   185 X.MoveWait(-20*XSMM)
170 Z.MoveWait(-30*ZSMM) 186 Z.MoveWait(-30*ZSMM)
171 X.Float() 187 X.Float()
172 Y.Float() 188 Y.Float()
173 Z.Float() 189 Z.Float()
174 190