-
Notifications
You must be signed in to change notification settings - Fork 7
/
Copy pathtest_script_03_basic_movement.py
123 lines (67 loc) · 2.99 KB
/
test_script_03_basic_movement.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
from tmc.TMC_2209_StepperDriver import *
import time
print("---")
print("SCRIPT START")
print("---")
#-----------------------------------------------------------------------
# initiate the TMC_2209 class
# use your pins for pin_step, pin_dir, pin_en here
#-----------------------------------------------------------------------
tmc = TMC_2209(27, 14, 26)
#-----------------------------------------------------------------------
# set the loglevel of the libary (currently only printed)
# set whether the movement should be relative or absolute
# both optional
#-----------------------------------------------------------------------
tmc.setLoglevel(Loglevel.debug)
tmc.setMovementAbsRel(MovementAbsRel.relative)
#-----------------------------------------------------------------------
# these functions change settings in the TMC register
#-----------------------------------------------------------------------
tmc.setDirection_reg(False)
tmc.setVSense(True)
tmc.setCurrent(200)
tmc.setIScaleAnalog(True)
tmc.setInterpolation(True)
tmc.setSpreadCycle(False)
tmc.setMicrosteppingResolution(1)
tmc.setInternalRSense(False)
print("---\n---")
#-----------------------------------------------------------------------
# these functions read and print the current settings in the TMC register
#-----------------------------------------------------------------------
#tmc.readIOIN()
#tmc.readCHOPCONF()
#tmc.readDRVSTATUS()
#tmc.readGCONF()
print("---\n---")
#-----------------------------------------------------------------------
# set the Accerleration and maximal Speed
#-----------------------------------------------------------------------
tmc.setAcceleration(2000)
tmc.setMaxSpeed(500)
#-----------------------------------------------------------------------
# activate the motor current output
#-----------------------------------------------------------------------
tmc.setMotorEnabled(True)
#-----------------------------------------------------------------------
# move the motor 1 revolution
#-----------------------------------------------------------------------
tmc.runToPositionSteps(800) #move to position 400
tmc.runToPositionSteps(0) #move to position 0
tmc.runToPositionSteps(1000, MovementAbsRel.relative) #move 400 steps forward
tmc.runToPositionSteps(-600, MovementAbsRel.relative) #move 400 steps backward
tmc.runToPositionSteps(400) #move to position 400
tmc.runToPositionSteps(0) #move to position 0
#-----------------------------------------------------------------------
# deactivate the motor current output
#-----------------------------------------------------------------------
tmc.setMotorEnabled(False)
print("---\n---")
#-----------------------------------------------------------------------
# deinitiate the TMC_2209 class
#-----------------------------------------------------------------------
del tmc
print("---")
print("SCRIPT FINISHED")
print("---")