async def move(ax: TMCM_1161,
mode: str,
to: int,
at: int,
id: str = '',
verbose: bool = False):
"""
Parameters:
ax: TMCM_1161 instance
mode: absolute or ralative
to: int: target position
at: int: speed
id: str: idintifier to print in terminal
return:
int: actual position of motor
"""
old_position = ax.getActualPosition()
if verbose:
print(f'{id} was at {old_position}')
if mode == 'abs':
ax.moveTo(to, at)
elif mode == 'rel':
ax.moveBy(to, at)
else:
print('unknown mode')
return
while not ax.positionReached():
if verbose:
print(id, ax.getActualPosition())
await asyncio.sleep(0.001)
await asyncio.sleep(0.001)
pos = ax.getActualPosition()
if verbose:
print(id, pos)
return pos
async def main(reset=True):
# connect to motor and set initial values
connectionManager = ConnectionManager(argList='--port 1')
x = TMCM_1161(connectionManager.connect())
initialize(x)
# stop motors before setActualPosition (data sheet p76/110, table 15)
if reset:
x.stop()
x.setActualPosition(0)
# Move motor to initial value
print('moving to initial position')
set_speed(x, 1600, 1000, 3, 7)
await move(x, 'abs', 51200, 1000, 'x')
x.stop()
report(x) # print info in case of an error
print('Start measurement')
# increase pulse division to 6 for a smoother movement during measurement
set_speed(x, 2047, 2047, 5, 8)
result = []
now = time.time()
x.connection.clearDigitalOutput(
0) # sets digital output to high in my case
x.connection.clearDigitalOutput(
1) # sets digital output to high in my case
for i in range(100):
val = await move(x, 'rel', -1024, 2047, 'x')
ans = get_all_inputs(x)
result.append((val, ans))
print(i, val, ans)
x.connection.setDigitalOutput(0) # clears digital output in my case
x.connection.setDigitalOutput(1)
total = time.time() - now
print(f'Finished measurement in {total:.2f}s')
report(x)
x.stop()
# Plotting
X = [i[0] for i in result]
A = [i[1][0] for i in result]
T = [i[1][1] for i in result]
V = [i[1][2] for i in result]
fig, (ax1, ax2, ax3) = plt.subplots(1, 3)
ax1.plot(X, A)
ax2.plot(X, T)
ax3.plot(X, V)
ax2.set_xlabel('Motor Position')
ax1.set_ylabel('AIN_0 [0/4095]')
ax2.set_ylabel('Temperature [°C]')
ax3.set_ylabel('Voltage [1/10V]')
plt.show()
from PyTrinamicMicro.platforms.motionpy1.connections.rs485_tmcl_interface import rs485_tmcl_interface
from PyTrinamic.modules.TMCM1161.TMCM_1161 import TMCM_1161
import logging
MODULE_ID = 1
GP_BANK = 0
AP_AXIS = 0
logger = logging.getLogger(__name__)
logger.info("Test module TMCM1161 parameters via RS485")
logger.info("Initializing interface.")
interface = rs485_tmcl_interface(module_id=MODULE_ID)
logger.info("Initializing module.")
module = TMCM_1161(interface)
logger.info("Testing global parameter access.")
logger.info("Getting global parameter ({}, {}) ...".format(
"timer_0", module.GPs.timer_0))
logger.info("{}".format(module.getGlobalParameter(module.GPs.timer_0,
GP_BANK)))
logger.info("Getting global parameter ({}, {}) ...".format(
"timer_1", module.GPs.timer_0))
logger.info("{}".format(module.getGlobalParameter(module.GPs.timer_1,
GP_BANK)))
logger.info("Getting global parameter ({}, {}) ...".format(
"timer_2", module.GPs.timer_0))
logger.info("{}".format(module.getGlobalParameter(module.GPs.timer_2,
GP_BANK)))
Created on 22.05.2019
@author: LH
'''
import PyTrinamic
from PyTrinamic.connections.ConnectionManager import ConnectionManager
from PyTrinamic.modules.TMCM1161.TMCM_1161 import TMCM_1161
import time
PyTrinamic.showInfo()
connectionManager = ConnectionManager()
myInterface = connectionManager.connect()
Module_1161 = TMCM_1161(myInterface)
DEFAULT_MOTOR = 0
print("Preparing parameters")
Module_1161.setMaxAcceleration(1000)
print("Rotating")
Module_1161.rotate(500)
time.sleep(2)
print("Stopping")
Module_1161.stop()
time.sleep(1)
''' Rotate the motor with TMCM1161 using RS485 interface. Created on 05.10.2020 @author: LK ''' from PyTrinamic.modules.TMCM1161.TMCM_1161 import TMCM_1161 from PyTrinamicMicro.platforms.motionpy.connections.rs485_tmcl_interface import rs485_tmcl_interface import time con = rs485_tmcl_interface() module = TMCM_1161(con) module.rotate(0, 1000) time.sleep(5) module.stop(0) con.close()