Rev 4746 Rev 4748
Line 83... Line 83...
83 spi.SPI_write_byte(self.CS, 0x10) 83 spi.SPI_write_byte(self.CS, 0x10)
84 spi.SPI_write_byte(self.CS, 0x06) # DEC 84 spi.SPI_write_byte(self.CS, 0x06) # DEC
85 spi.SPI_write_byte(self.CS, 0x00) 85 spi.SPI_write_byte(self.CS, 0x00)
86 spi.SPI_write_byte(self.CS, 0x10) 86 spi.SPI_write_byte(self.CS, 0x10)
87 spi.SPI_write_byte(self.CS, self.L6470_KVAL_RUN) # KVAL_RUN 87 spi.SPI_write_byte(self.CS, self.L6470_KVAL_RUN) # KVAL_RUN
88 spi.SPI_write_byte(self.CS, 0x28) 88 spi.SPI_write_byte(self.CS, 0x18)
89 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
90 spi.SPI_write_byte(self.CS, 0x28) 90 spi.SPI_write_byte(self.CS, 0x18)
91 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
92 spi.SPI_write_byte(self.CS, 0x28) 92 spi.SPI_write_byte(self.CS, 0x18)
93 spi.SPI_write_byte(self.CS, 0x18) # CONFIG 93 spi.SPI_write_byte(self.CS, 0x18) # CONFIG
94 spi.SPI_write_byte(self.CS, 0b00101110) # spolecny byte pro obe konfigurace 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 95 spi.SPI_write_byte(self.CS, 0b10000000) # konfigurace pro interni oscilator
96 # spi.SPI_write_byte(self.CS, 0b10000110) # konfigurace s externim oscilatorem 96 # spi.SPI_write_byte(self.CS, 0b10000110) # konfigurace s externim oscilatorem
97 self.MaxSpeed(self.maxspeed) 97 self.MaxSpeed(self.maxspeed)
Line 268... Line 268...
268 direction = True 268 direction = True
269 requested_speed = SPEED * 1.2 # runnig the motor at 120% of the base motor speed 269 requested_speed = SPEED * 1.2 # runnig the motor at 120% of the base motor speed
270   270  
271 if key == ['slower']: 271 if key == ['slower']:
272 running = True 272 running = True
273 direction = False 273 direction = True
274 requested_speed = SPEED * 0.8 274 requested_speed = SPEED * 0.8
275   275  
276 if key == ['stop']: 276 if key == ['stop']:
277 running = False 277 running = False
278   278