| 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(200.0) |
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 |
|
187 |
|
| 187 |
print "Waiting for IR command.." |
188 |
print "Waiting for IR command.." |
| 188 |
while True: # set maximal motor speed |
189 |
while True: # set maximal motor speed |
| 189 |
key = pylirc.nextcode() ## preccessing the IR remote control commands. |
190 |
key = pylirc.nextcode() ## preccessing the IR remote control commands. |
| 190 |
|
191 |
|
| 191 |
if key == ['start']: |
192 |
if key == ['start']: |
| 192 |
real_speed = X.Run(1, SPEED) |
193 |
running = True |
| 193 |
print "Motor running at: %f steps/s" % real_speed |
194 |
requested_speed = SPEED |
| 194 |
|
195 |
|
| 195 |
if key == ['faster']: |
196 |
if key == ['faster']: |
| - |
|
197 |
running = True |
| 196 |
real_speed = X.Run(1, SPEED * 1.2) # runnig the motor at 120% of the base motor speed |
198 |
requested_speed = SPEED * 1.2 # runnig the motor at 120% of the base motor speed |
| 197 |
print "Motor running at: %f steps/s" % real_speed |
- |
|
| 198 |
|
199 |
|
| 199 |
if key == ['slower']: |
200 |
if key == ['slower']: |
| 200 |
real_speed = X.Run(1, SPEED * 0.8) |
201 |
running = True |
| 201 |
print "Motor running at: %f steps/s" % real_speed |
202 |
requested_speed = SPEED * 0.8 |
| 202 |
|
203 |
|
| 203 |
if key == ['stop']: |
204 |
if key == ['stop']: |
| - |
|
205 |
running = False |
| - |
|
206 |
|
| - |
|
207 |
time.sleep(0.1) |
| - |
|
208 |
|
| - |
|
209 |
if running == True: |
| - |
|
210 |
real_speed = X.Run(1, requested_speed) |
| - |
|
211 |
print "Motor running at: %f steps/s" % real_speed |
| - |
|
212 |
else: |
| 204 |
X.Float(hard=False) # release power |
213 |
X.Float(hard=False) # release power |
| 205 |
print "Stopping the motor." |
214 |
print "Stopping the motor." |
| 206 |
|
215 |
|
| 207 |
except KeyboardInterrupt: |
216 |
except KeyboardInterrupt: |
| 208 |
print "stop" |
217 |
print "stop" |