| Line 85... |
Line 85... |
| 85 |
spi.SPI_write_byte(self.CS, 0x10) |
85 |
spi.SPI_write_byte(self.CS, 0x10) |
| 86 |
spi.SPI_write_byte(self.CS, 0x06) # DEC |
86 |
spi.SPI_write_byte(self.CS, 0x06) # DEC |
| 87 |
spi.SPI_write_byte(self.CS, 0x00) |
87 |
spi.SPI_write_byte(self.CS, 0x00) |
| 88 |
spi.SPI_write_byte(self.CS, 0x10) |
88 |
spi.SPI_write_byte(self.CS, 0x10) |
| 89 |
spi.SPI_write_byte(self.CS, self.L6470_KVAL_RUN) # KVAL_RUN |
89 |
spi.SPI_write_byte(self.CS, self.L6470_KVAL_RUN) # KVAL_RUN |
| 90 |
spi.SPI_write_byte(self.CS, 0xF8) |
90 |
spi.SPI_write_byte(self.CS, 0x58) |
| 91 |
spi.SPI_write_byte(self.CS, self.L6470_KVAL_ACC) # KVAL_ACC |
91 |
spi.SPI_write_byte(self.CS, self.L6470_KVAL_ACC) # KVAL_ACC |
| 92 |
spi.SPI_write_byte(self.CS, 0xF8) |
92 |
spi.SPI_write_byte(self.CS, 0x58) |
| 93 |
spi.SPI_write_byte(self.CS, self.L6470_KVAL_DEC) # KVAL_DEC |
93 |
spi.SPI_write_byte(self.CS, self.L6470_KVAL_DEC) # KVAL_DEC |
| 94 |
spi.SPI_write_byte(self.CS, 0xF8) |
94 |
spi.SPI_write_byte(self.CS, 0x58) |
| 95 |
spi.SPI_write_byte(self.CS, 0x18) # CONFIG |
95 |
spi.SPI_write_byte(self.CS, 0x18) # CONFIG |
| 96 |
spi.SPI_write_byte(self.CS, 0b00101110) |
96 |
spi.SPI_write_byte(self.CS, 0b00101110) |
| 97 |
spi.SPI_write_byte(self.CS, 0b10001000) |
97 |
spi.SPI_write_byte(self.CS, 0b10000110) |
| 98 |
self.MaxSpeed(self.maxspeed) |
98 |
self.MaxSpeed(self.maxspeed) |
| 99 |
|
99 |
|
| 100 |
def setKVAL(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): |
100 |
def setKVAL(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): |
| 101 |
""" The available range is from 0 to 0.996 x VS with a resolution of 0.004 x VS """ |
101 |
""" The available range is from 0 to 0.996 x VS with a resolution of 0.004 x VS """ |
| 102 |
|
102 |
|