def move_a_bit(a):
stepper = Stepper(a, 2000, 1000)
df = pd.DataFrame(index=np.arange(0, 1500 * 2),
columns=('v', 's', 'd', 't'))
t = 0.0
s = 0
try:
stepper.target_pos = 1500
while True:
d = stepper.step()
m = 1 << stepper.micro
if d == 0 or stepper.pos / m >= 300:
stepper.set_target_speed(6000)
break
t += d
df.loc[s] = [1e6 / d / m, stepper.pos / m, d / 1e6, t / 1e6]
s += 1
while True:
d = stepper.step()
m = 1 << stepper.micro
if d == 0:
break
if 1e6 / d / m < 200:
i = 1
df.loc[s] = [1e6 / d / m, stepper.pos / m, d / 1e6, t / 1e6]
t += d
s += 1
except:
print("FAIL")
return df.dropna()
def accel_2_integer(steps, a):
stepper = Stepper(a, 10000, 700)
stepper.target_pos = steps
df = pd.DataFrame(index=np.arange(0, steps * 16),
columns=('v', 's', 'd', 't', 'adj_d', 'micro', 'shift'))
t = 0
s = 0
while True:
d = stepper.step()
if d == 0 or s > steps * 16:
break
m = 1 << stepper.micro
v = 1e6 / d / m
p = stepper.pos / m
ad = d * m
t += d
df.loc[s] = [v, p, d, t / 1e6, ad, m, stepper.shift]
s += 1
return df.dropna()
