from PyTrinamicMicro.platforms.motionpy.modules.linear_distance import linear_distance
from PyTrinamic.modules.TMCM1240.TMCM_1240 import TMCM_1240
from PyTrinamicMicro.platforms.motionpy.modules.hc_sr04_multi import hc_sr04_multi
from PyTrinamicMicro.platforms.motionpy.modules.MCP23S08 import MCP23S08
from PyTrinamicMicro.platforms.motionpy.connections.rs485_tmcl_interface import rs485_tmcl_interface
module = TMCM_1240(rs485_tmcl_interface())
module.setMaxAcceleration(0, 100000)
lin = linear_distance(sensor=hc_sr04_multi(avg_window=100),
sensor_index=1,
module=module)
lin.homing_direct(velocity=100000)
print(lin.bounds)
'''
from PyTrinamic.ic.TMC5130.TMC5130 import TMC5130
from PyTrinamicMicro.platforms.motionpy.connections.uart_ic_interface import uart_ic_interface
from PyTrinamicMicro.platforms.motionpy.modules.hc_sr04_multi import hc_sr04_multi
from PyTrinamicMicro.platforms.motionpy.modules.MCP23S08 import MCP23S08
import logging
logger = logging.getLogger(__name__)
logger.debug("Initializing TMC5130 ...")
mc = TMC5130(connection=uart_ic_interface(single_wire=True),
comm=TMC5130.COMM_UART)
logger.debug("TMC5130 initialized.")
logger.debug("Initializing hc_sr04_multi ...")
sensor = hc_sr04_multi()
logger.debug("hc_sr04_multi initialized.")
logger.debug("Writing default registers ...")
mc.writeRegister(mc.registers.IHOLD_IRUN, 0x00071703)
mc.writeRegister(mc.registers.CHOPCONF, 0x000101D5)
mc.writeRegister(mc.registers.PWMCONF, 0x000500C8)
mc.writeRegister(mc.registers.VSTART, 1000)
mc.writeRegister(mc.registers.V1, 1000)
mc.writeRegister(mc.registers.VSTOP, 1000)
mc.writeRegister(mc.registers.AMAX, 1000)
mc.writeRegister(mc.registers.A1, 1000)
mc.writeRegister(mc.registers.DMAX, 1000)
mc.writeRegister(mc.registers.D1, 1000)
module.setMaxAcceleration(0, 100000)
logger.info("Interface initialized.")
while (not (slave.status.stop)):
# Handle connection
if (con.request_available()):
logger.debug("Request available.")
request = con.receive_request()
if (not (slave.filter(request))):
continue
logger.debug("Request for this slave detected.")
reply = slave.handle_request(request)
con.send_reply(reply)
# Handle flags
if (slave.status.lin[0]):
lin = linear_distance(hc_sr04_multi(avg_window=100), 1, module)
slave.status.lin[0] = False
if (slave.status.homing[0]):
slave.ap[0][slave.APs.linear_homing_status] = lin.homing(
slave.ap[0][slave.APs.linear_homing_status],
slave.ap[0][slave.APs.linear_length] / 0xFFFF,
slave.ap[0][slave.APs.linear_velocity_homing],
slave.ap[0][slave.APs.linear_acceleration_homing],
slave.ap[0][slave.APs.linear_homing_margin] / 0xFFFFFFFF,
slave.ap[0][slave.APs.linear_homing_hyst] / 0xFFFFFFFF)
if (slave.status.position_step[0]):
lin.position_step(slave.ap[0][slave.APs.linear_position_step],
slave.ap[0][slave.APs.linear_velocity_position],
slave.ap[0][slave.APs.linear_acceleration_position])
slave.status.position_step[0] = False
if (slave.status.position_relative[0]):