Rev 4573 Rev 4574
Line 71... Line 71...
71 self.spi.xfer([0x0A]) # KVAL_RUN 71 self.spi.xfer([0x0A]) # KVAL_RUN
72 self.spi.xfer([0x50]) 72 self.spi.xfer([0x50])
73 self.spi.xfer([0x0B]) # KVAL_ACC 73 self.spi.xfer([0x0B]) # KVAL_ACC
74 self.spi.xfer([0x50]) 74 self.spi.xfer([0x50])
75 self.spi.xfer([0x0C]) # KVAL_DEC 75 self.spi.xfer([0x0C]) # KVAL_DEC
76 self.spi.xfer([0x05]) 76 self.spi.xfer([0x50])
77 # self.spi.xfer([0x18]) # CONFIG 77 # self.spi.xfer([0x18]) # CONFIG
78 # self.spi.xfer([0b00111000]) 78 # self.spi.xfer([0b00111000])
79 # self.spi.xfer([0b00000000]) 79 # self.spi.xfer([0b00000000])
80 80
81 def MaxSpeed(self, speed): 81 def MaxSpeed(self, speed):
Line 193... Line 193...
193 print "Axis inicialization" 193 print "Axis inicialization"
194 X = axis(spi, 0, 641, MaxSpeed = SPEED) # set Number of Steps per axis Unit and set Direction of Rotation 194 X = axis(spi, 0, 641, MaxSpeed = SPEED) # set Number of Steps per axis Unit and set Direction of Rotation
195   195  
196 print X.MaxSpeed(SPEED) # set maximal motor speed 196 print X.MaxSpeed(SPEED) # set maximal motor speed
197   197  
198 print X.Run(1, 200.456431) 198 #print X.Run(1, 200.456431)
199 time.sleep(10) 199 #time.sleep(10)
200 ''' 200
201 print "Axis is running" 201 print "Axis is running"
202 for i in range(5): 202 for i in range(5):
203 print i 203 print i
204 X.MoveWait(DISTANCE) # move forward and wait for motor stop 204 X.MoveWait(DISTANCE) # move forward and wait for motor stop
205 print "Changing direction of rotation.." 205 print "Changing direction of rotation.."
206 time.sleep(1.1) 206 time.sleep(1.1)
207 X.MoveWait(-DISTANCE) # move backward and wait for motor stop 207 X.MoveWait(-DISTANCE) # move backward and wait for motor stop
208 print "Changing direction of rotation.." 208 print "Changing direction of rotation.."
209 time.sleep(1.1) 209 time.sleep(1.1)
210 ''' 210
211 X.Float(hard=False) # release power 211 X.Float(hard=False) # release power
212   212  
213 finally: 213 finally:
214 print "stop" 214 print "stop"