Rev 4561 Rev 4563
Line 151... Line 151...
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 = 2 156 spi.mode = 1
-   157 spi.lsbfirst = False
157 #spi.bits_per_word = 8 158 spi.bits_per_word = 8
158 #spi.cshigh = False 159 spi.cshigh = False
159 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)
160 time.sleep(1) 161 time.sleep(1)
161   162  
162 print "Axis inicialization" 163 print "Axis inicialization"
163 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
164 X.MaxSpeed(SPEED) # set maximal motor speed 165 X.MaxSpeed(SPEED) # set maximal motor speed