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# |
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# |
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# Program uses MLAB Python modules library from https://github.com/MLAB-project/pymlab |
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# Program uses MLAB Python modules library from https://github.com/MLAB-project/pymlab |
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#uncomment for debbug purposes |
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#uncomment for debbug purposes |
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import logging |
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#import logging |
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logging.basicConfig(level=logging.DEBUG) |
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#logging.basicConfig(level=logging.DEBUG) |
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import sys |
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import sys |
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import time |
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import time |
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from pymlab import config |
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from pymlab import config |
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import pylirc # infrared receiver binding |
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import pylirc # infrared receiver binding |
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spi.SPI_write_byte(self.CS, 0x10) |
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spi.SPI_write_byte(self.CS, 0x10) |
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spi.SPI_write_byte(self.CS, 0x06) # DEC |
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spi.SPI_write_byte(self.CS, 0x06) # DEC |
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spi.SPI_write_byte(self.CS, 0x00) |
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spi.SPI_write_byte(self.CS, 0x00) |
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spi.SPI_write_byte(self.CS, 0x10) |
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spi.SPI_write_byte(self.CS, 0x10) |
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spi.SPI_write_byte(self.CS, self.L6470_KVAL_RUN) # KVAL_RUN |
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spi.SPI_write_byte(self.CS, self.L6470_KVAL_RUN) # KVAL_RUN |
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spi.SPI_write_byte(self.CS, 0x58) |
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spi.SPI_write_byte(self.CS, 0xF8) |
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spi.SPI_write_byte(self.CS, self.L6470_KVAL_ACC) # KVAL_ACC |
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spi.SPI_write_byte(self.CS, self.L6470_KVAL_ACC) # KVAL_ACC |
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spi.SPI_write_byte(self.CS, 0x58) |
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spi.SPI_write_byte(self.CS, 0xF8) |
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spi.SPI_write_byte(self.CS, self.L6470_KVAL_DEC) # KVAL_DEC |
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spi.SPI_write_byte(self.CS, self.L6470_KVAL_DEC) # KVAL_DEC |
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spi.SPI_write_byte(self.CS, 0x58) |
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spi.SPI_write_byte(self.CS, 0xF8) |
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# spi.SPI_write_byte(self.CS, 0x18) # CONFIG |
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spi.SPI_write_byte(self.CS, 0x18) # CONFIG |
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# spi.SPI_write_byte(self.CS, 0b00111000) |
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spi.SPI_write_byte(self.CS, 0b00101110) |
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# spi.SPI_write_byte(self.CS, 0b00000000) |
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spi.SPI_write_byte(self.CS, 0b10001000) |
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self.MaxSpeed(self.maxspeed) |
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self.MaxSpeed(self.maxspeed) |
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def setKVAL(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): |
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def setKVAL(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): |
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""" The available range is from 0 to 0.996 x VS with a resolution of 0.004 x VS """ |
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""" The available range is from 0 to 0.996 x VS with a resolution of 0.004 x VS """ |
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requested_speed = SPEED * 1.2 # runnig the motor at 120% of the base motor speed |
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requested_speed = SPEED * 1.2 # runnig the motor at 120% of the base motor speed |
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if key == ['slower']: |
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if key == ['slower']: |
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running = True |
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running = True |
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direction = False |
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direction = False |
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requested_speed = SPEED * 0.2 |
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requested_speed = SPEED * 0.8 |
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if key == ['stop']: |
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if key == ['stop']: |
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running = False |
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running = False |
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time.sleep(0.1) |
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time.sleep(0.1) |