| Line 23... |
Line 23... |
| 23 |
else: |
23 |
else: |
| 24 |
sys.stderr.write("Invalid number of arguments.\n") |
24 |
sys.stderr.write("Invalid number of arguments.\n") |
| 25 |
sys.stderr.write("Usage: %s BASE_SPEED (in steps/s)\n" % (sys.argv[0], )) |
25 |
sys.stderr.write("Usage: %s BASE_SPEED (in steps/s)\n" % (sys.argv[0], )) |
| 26 |
sys.exit(1) |
26 |
sys.exit(1) |
| 27 |
|
27 |
|
| 28 |
|
- |
|
| 29 |
|
- |
|
| 30 |
# Begin of Class Axis -------------------------------------------------- |
28 |
# Begin of Class Axis -------------------------------------------------- |
| 31 |
|
29 |
|
| 32 |
class axis: |
30 |
class axis: |
| 33 |
def __init__(self, SPI_CS, Direction, StepsPerUnit, MaxSpeed): |
31 |
def __init__(self, SPI_CS, Direction, StepsPerUnit, MaxSpeed): |
| 34 |
' One axis of robot ' |
32 |
' One axis of robot ' |
| Line 91... |
Line 89... |
| 91 |
spi.SPI_write_byte(self.CS, self.L6470_KVAL_ACC) # KVAL_ACC |
89 |
spi.SPI_write_byte(self.CS, self.L6470_KVAL_ACC) # KVAL_ACC |
| 92 |
spi.SPI_write_byte(self.CS, 0x58) |
90 |
spi.SPI_write_byte(self.CS, 0x58) |
| 93 |
spi.SPI_write_byte(self.CS, self.L6470_KVAL_DEC) # KVAL_DEC |
91 |
spi.SPI_write_byte(self.CS, self.L6470_KVAL_DEC) # KVAL_DEC |
| 94 |
spi.SPI_write_byte(self.CS, 0x58) |
92 |
spi.SPI_write_byte(self.CS, 0x58) |
| 95 |
spi.SPI_write_byte(self.CS, 0x18) # CONFIG |
93 |
spi.SPI_write_byte(self.CS, 0x18) # CONFIG |
| 96 |
spi.SPI_write_byte(self.CS, 0b00101110) |
94 |
spi.SPI_write_byte(self.CS, 0b00101110) # spolecny byte pro obe konfigurace |
| - |
|
95 |
spi.SPI_write_byte(self.CS, 0b10000000) # konfigurace pro interni oscilator |
| 97 |
spi.SPI_write_byte(self.CS, 0b10000110) |
96 |
# spi.SPI_write_byte(self.CS, 0b10000110) # konfigurace s externim oscilatorem |
| 98 |
self.MaxSpeed(self.maxspeed) |
97 |
self.MaxSpeed(self.maxspeed) |
| 99 |
|
98 |
|
| 100 |
def setKVAL(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): |
99 |
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 """ |
100 |
""" The available range is from 0 to 0.996 x VS with a resolution of 0.004 x VS """ |
| 102 |
|
101 |
|
| 103 |
def setOverCurrentTH(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): |
102 |
def setOverCurrentTH(self, hold = 0.5, run = 0.5, acc = 0.5, dec = 0.5): |
| 104 |
""" The available range is from 375 mA to 6 A, in steps of 375 mA """ |
103 |
""" The available range is from 375 mA to 6 A, in steps of 375 mA """ |
| 105 |
|
104 |
|
| 106 |
|
- |
|
| 107 |
|
- |
|
| 108 |
def MaxSpeed(self, speed): |
105 |
def MaxSpeed(self, speed): |
| 109 |
'Setup of maximum speed in steps/s. The available range is from 15.25 to 15610 step/s with a resolution of 15.25 step/s.' |
106 |
'Setup of maximum speed in steps/s. The available range is from 15.25 to 15610 step/s with a resolution of 15.25 step/s.' |
| 110 |
speed_value = int(speed / 15.25) |
107 |
speed_value = int(speed / 15.25) |
| 111 |
if (speed_value <= 0): |
108 |
if (speed_value <= 0): |
| 112 |
speed_value = 1 |
109 |
speed_value = 1 |
| 113 |
elif (speed_value >= 1023): |
110 |
elif (speed_value >= 1023): |
| 114 |
speed_value = 1023 |
111 |
speed_value = 1023 |
| 115 |
|
112 |
|
| 116 |
data = [(speed_value >> i & 0xff) for i in (8,0)] |
113 |
data = [(speed_value >> i & 0xff) for i in (8,0)] |
| 117 |
print data |
- |
|
| 118 |
spi.SPI_write_byte(self.CS, self.L6470_MAX_SPEED) # Max Speed setup |
114 |
spi.SPI_write_byte(self.CS, self.L6470_MAX_SPEED) # Max Speed setup |
| 119 |
spi.SPI_write_byte(self.CS, data[0]) |
115 |
spi.SPI_write_byte(self.CS, data[0]) |
| 120 |
spi.SPI_write_byte(self.CS, data[1]) |
116 |
spi.SPI_write_byte(self.CS, data[1]) |
| 121 |
return (speed_value * 15.25) |
117 |
return (speed_value * 15.25) |
| 122 |
|
118 |
|
| Line 187... |
Line 183... |
| 187 |
spi.SPI_write_byte(self.CS, (steps >> 8) & 0xFF) |
183 |
spi.SPI_write_byte(self.CS, (steps >> 8) & 0xFF) |
| 188 |
spi.SPI_write_byte(self.CS, steps & 0xFF) |
184 |
spi.SPI_write_byte(self.CS, steps & 0xFF) |
| 189 |
|
185 |
|
| 190 |
def Run(self, direction, speed): |
186 |
def Run(self, direction, speed): |
| 191 |
speed_value = int(speed / 0.015) |
187 |
speed_value = int(speed / 0.015) |
| 192 |
print hex(speed_value) |
- |
|
| 193 |
|
188 |
|
| 194 |
command = 0b01010000 + int(direction) |
189 |
command = 0b01010000 + int(direction) |
| 195 |
data = [(speed_value >> i & 0xff) for i in (16,8,0)] |
190 |
data = [(speed_value >> i & 0xff) for i in (16,8,0)] |
| 196 |
spi.SPI_write_byte(self.CS, command) # Max Speed setup |
191 |
spi.SPI_write_byte(self.CS, command) # Max Speed setup |
| 197 |
spi.SPI_write_byte(self.CS, data[0]) |
192 |
spi.SPI_write_byte(self.CS, data[0]) |
| Line 249... |
Line 244... |
| 249 |
print "Configuring SPI.." |
244 |
print "Configuring SPI.." |
| 250 |
spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz) |
245 |
spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz) |
| 251 |
time.sleep(0.1) |
246 |
time.sleep(0.1) |
| 252 |
|
247 |
|
| 253 |
print "Configuring stepper motor.." |
248 |
print "Configuring stepper motor.." |
| 254 |
X = axis(spi.I2CSPI_SS0, 0, 1, MaxSpeed = SPEED) # set Number of Steps per axis Unit and set Direction of Rotation |
249 |
X = axis(spi.I2CSPI_SS0, 0, 1, MaxSpeed = 2*SPEED) # set Number of Steps per axis Unit and set Direction of Rotation |
| 255 |
# maximum_speed = X.MaxSpeed(100.0) |
- |
|
| 256 |
#X.GetStatus() |
- |
|
| 257 |
|
250 |
|
| - |
|
251 |
|
| 258 |
# print "Motor speed limit is: %f steps/s" % maximum_speed |
252 |
print "Motor speed limit is: %f steps/s" % maximum_speed |
| 259 |
running = False |
253 |
running = False |
| 260 |
|
254 |
|
| 261 |
print "Waiting for IR command.." |
255 |
print "Waiting for IR command.." |
| 262 |
while True: # set maximal motor speed |
256 |
while True: # set maximal motor speed |
| 263 |
key = pylirc.nextcode() ## preccessing the IR remote control commands. |
257 |
key = pylirc.nextcode() ## preccessing the IR remote control commands. |
| Line 285... |
Line 279... |
| 285 |
if running == True: |
279 |
if running == True: |
| 286 |
real_speed = X.Run(direction, requested_speed) |
280 |
real_speed = X.Run(direction, requested_speed) |
| 287 |
print "Motor running at: %f steps/s" % real_speed |
281 |
print "Motor running at: %f steps/s" % real_speed |
| 288 |
else: |
282 |
else: |
| 289 |
X.Reset() |
283 |
X.Reset() |
| 290 |
#X.Initialize() |
284 |
X.Initialize() |
| 291 |
X.Float(hard=False) # release power |
285 |
X.Float(hard=False) # release power |
| 292 |
print "Stopping the motor." |
286 |
print "Stopping the motor." |
| 293 |
|
287 |
|
| 294 |
except KeyboardInterrupt: |
288 |
except KeyboardInterrupt: |
| 295 |
print "stop" |
289 |
print "stop" |
| 296 |
X.Float(hard=False) # release power |
290 |
X.Float(hard=False) # release power |
| 297 |
sys.exit(0) |
291 |
sys.exit(0) |
| 298 |
|
292 |
|
| 299 |
except Exception, e: |
293 |
except Exception, e: |
| 300 |
# X.Float(hard=False) # release power |
294 |
X.Float(hard=False) # release power |
| 301 |
print >> sys.stderr, "Exception: %s" % str(e) |
295 |
print >> sys.stderr, "Exception: %s" % str(e) |
| 302 |
sys.exit(1) |
296 |
sys.exit(1) |