| Line 53... |
Line 53... |
| 53 |
self.spi.xfer([0x10]) |
53 |
self.spi.xfer([0x10]) |
| 54 |
self.spi.xfer([0x06]) # DEC |
54 |
self.spi.xfer([0x06]) # DEC |
| 55 |
self.spi.xfer([0x00]) |
55 |
self.spi.xfer([0x00]) |
| 56 |
self.spi.xfer([0x10]) |
56 |
self.spi.xfer([0x10]) |
| 57 |
self.spi.xfer([0x0A]) # KVAL_RUN |
57 |
self.spi.xfer([0x0A]) # KVAL_RUN |
| 58 |
self.spi.xfer([0x20]) |
58 |
self.spi.xfer([0x05]) |
| 59 |
self.spi.xfer([0x0B]) # KVAL_ACC |
59 |
self.spi.xfer([0x0B]) # KVAL_ACC |
| 60 |
self.spi.xfer([0x20]) |
60 |
self.spi.xfer([0x05]) |
| 61 |
self.spi.xfer([0x0C]) # KVAL_DEC |
61 |
self.spi.xfer([0x0C]) # KVAL_DEC |
| 62 |
self.spi.xfer([0x20]) |
62 |
self.spi.xfer([0x05]) |
| 63 |
self.spi.xfer([0x18]) # CONFIG |
63 |
# self.spi.xfer([0x18]) # CONFIG |
| 64 |
self.spi.xfer([0b00111010]) |
64 |
# self.spi.xfer([0b00111010]) |
| 65 |
self.spi.xfer([0b10001000]) |
65 |
# self.spi.xfer([0b10001000]) |
| 66 |
|
66 |
|
| 67 |
def MaxSpeed(self, speed): |
67 |
def MaxSpeed(self, speed): |
| 68 |
'Setup of maximum speed in steps/s' |
68 |
'Setup of maximum speed in steps/s' |
| 69 |
speed_value = int(speed / 15.25) |
69 |
speed_value = int(speed / 15.25) |
| 70 |
if (speed_value == 0): |
70 |
if (speed_value == 0): |
| Line 177... |
Line 177... |
| 177 |
#spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz) |
177 |
#spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz) |
| 178 |
time.sleep(1) |
178 |
time.sleep(1) |
| 179 |
|
179 |
|
| 180 |
print "Configuring stepper motor.." |
180 |
print "Configuring stepper motor.." |
| 181 |
X = axis(spi, 0, 1) # set Number of Steps per axis Unit and set Direction of Rotation |
181 |
X = axis(spi, 0, 1) # set Number of Steps per axis Unit and set Direction of Rotation |
| 182 |
maximum_speed = X.MaxSpeed(100.0) |
182 |
# maximum_speed = X.MaxSpeed(100.0) |
| 183 |
X.GetStatus() |
183 |
#X.GetStatus() |
| 184 |
|
184 |
|
| 185 |
print "Motor speed limit is: %f steps/s" % maximum_speed |
185 |
# print "Motor speed limit is: %f steps/s" % maximum_speed |
| 186 |
running = False |
186 |
running = False |
| 187 |
|
187 |
|
| - |
|
188 |
while True: |
| - |
|
189 |
pass |
| - |
|
190 |
|
| - |
|
191 |
|
| 188 |
print "Waiting for IR command.." |
192 |
print "Waiting for IR command.." |
| 189 |
while True: # set maximal motor speed |
193 |
while True: # set maximal motor speed |
| 190 |
key = pylirc.nextcode() ## preccessing the IR remote control commands. |
194 |
key = pylirc.nextcode() ## preccessing the IR remote control commands. |
| 191 |
|
195 |
|
| 192 |
if key == ['start']: |
196 |
if key == ['start']: |
| Line 212... |
Line 216... |
| 212 |
if running == True: |
216 |
if running == True: |
| 213 |
real_speed = X.Run(direction, requested_speed) |
217 |
real_speed = X.Run(direction, requested_speed) |
| 214 |
print "Motor running at: %f steps/s" % real_speed |
218 |
print "Motor running at: %f steps/s" % real_speed |
| 215 |
else: |
219 |
else: |
| 216 |
X.Reset() |
220 |
X.Reset() |
| 217 |
X.Initialize() |
221 |
#X.Initialize() |
| 218 |
X.Float(hard=False) # release power |
222 |
X.Float(hard=False) # release power |
| 219 |
print "Stopping the motor." |
223 |
print "Stopping the motor." |
| 220 |
|
224 |
|
| 221 |
except KeyboardInterrupt: |
225 |
except KeyboardInterrupt: |
| 222 |
print "stop" |
226 |
print "stop" |
| 223 |
X.Float(hard=False) # release power |
227 |
X.Float(hard=False) # release power |
| 224 |
sys.exit(0) |
228 |
sys.exit(0) |
| 225 |
|
229 |
|
| 226 |
except Exception, e: |
230 |
except Exception, e: |
| 227 |
X.Float(hard=False) # release power |
231 |
# X.Float(hard=False) # release power |
| 228 |
print >> sys.stderr, "Exception: %s" % str(e) |
232 |
print >> sys.stderr, "Exception: %s" % str(e) |
| 229 |
sys.exit(1) |
233 |
sys.exit(1) |