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demo_script_03_basic_movement.py
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#pylint: disable=wildcard-import
#pylint: disable=unused-wildcard-import
#pylint: disable=unused-import
#pylint: disable=duplicate-code
"""
test file for testing basic movement
"""
import time
try:
from src.tmc_driver.tmc_2209 import *
except ModuleNotFoundError:
from tmc_driver.tmc_2209 import *
print("---")
print("SCRIPT START")
print("---")
#-----------------------------------------------------------------------
# initiate the Tmc2209 class
# use your pins for pin_en, pin_step, pin_dir here
#-----------------------------------------------------------------------
if BOARD == Board.RASPBERRY_PI:
tmc = Tmc2209(21, 16, 20, TmcUart("/dev/serial0"), loglevel=Loglevel.DEBUG)
elif BOARD == Board.RASPBERRY_PI5:
tmc = Tmc2209(21, 16, 20, TmcUart("/dev/ttyAMA0"), loglevel=Loglevel.DEBUG)
elif BOARD == Board.NVIDIA_JETSON:
tmc = Tmc2209(13, 6, 5, TmcUart("/dev/ttyTHS1"), loglevel=Loglevel.DEBUG)
else:
# just in case
tmc = Tmc2209(21, 16, 20, TmcUart("/dev/serial0"), loglevel=Loglevel.DEBUG)
#-----------------------------------------------------------------------
# set the loglevel of the libary (currently only printed)
# set whether the movement should be relative or absolute
# both optional
#-----------------------------------------------------------------------
tmc.tmc_logger.loglevel = Loglevel.DEBUG
tmc.movement_abs_rel = MovementAbsRel.ABSOLUTE
#-----------------------------------------------------------------------
# these functions change settings in the TMC register
#-----------------------------------------------------------------------
tmc.set_direction_reg(False)
tmc.set_current(300)
tmc.set_interpolation(True)
tmc.set_spreadcycle(False)
tmc.set_microstepping_resolution(2)
tmc.set_internal_rsense(False)
print("---\n---")
#-----------------------------------------------------------------------
# these functions read and print the current settings in the TMC register
#-----------------------------------------------------------------------
tmc.read_ioin()
tmc.read_chopconf()
tmc.read_drv_status()
tmc.read_gconf()
print("---\n---")
#-----------------------------------------------------------------------
# set the Acceleration and maximal Speed
#-----------------------------------------------------------------------
# tmc.set_acceleration(2000)
# tmc.set_max_speed(500)
#-----------------------------------------------------------------------
# set the Acceleration and maximal Speed in fullsteps
#-----------------------------------------------------------------------
tmc.acceleration_fullstep = 1000
tmc.max_speed_fullstep = 250
#-----------------------------------------------------------------------
# activate the motor current output
#-----------------------------------------------------------------------
tmc.set_motor_enabled(True)
#-----------------------------------------------------------------------
# move the motor 1 revolution
#-----------------------------------------------------------------------
tmc.run_to_position_steps(400) #move to position 400
tmc.run_to_position_steps(0) #move to position 0
tmc.run_to_position_steps(400, MovementAbsRel.RELATIVE) #move 400 steps forward
tmc.run_to_position_steps(-400, MovementAbsRel.RELATIVE) #move 400 steps backward
tmc.run_to_position_steps(400) #move to position 400
tmc.run_to_position_steps(0) #move to position 0
#-----------------------------------------------------------------------
# deactivate the motor current output
#-----------------------------------------------------------------------
tmc.set_motor_enabled(False)
print("---\n---")
#-----------------------------------------------------------------------
# deinitiate the Tmc2209 class
#-----------------------------------------------------------------------
del tmc
print("---")
print("SCRIPT FINISHED")
print("---")