def getPosition(self):
if can_control.isInitialized():
possteps = can_control.getMotorPos(self.mAxisID)
# convert steps to pos in user units
posval = self.convertStepsToPos(possteps)
return posval
else:
print "Could not get motor position, CANBus is not intialized"
return 0
def getPosition(self):
if can_control.isInitialized():
possteps = can_control.getMotorPos(self.mAxisID)
# convert steps to pos in user units
posval = self.convertStepsToPos(possteps)
return posval
else:
print "Could not get motor position, CANBus is not intialized"
return 0
def startMoving(self, newPos, newSpeed=None):
possteps = self.convertPosToSteps(newPos)
if newSpeed == None:
newSpeed = self.mPosSpeed
else:
# convert from degs / second to incrs / 64 seconds
newSpeed = int(newSpeed * self.mStepsPerUnit * 64)
print newSpeed
if can_control.isInitialized():
can_control.prepareMovement(self.mAxisID)
can_control.startMotorMovementToPos(self.mAxisID,possteps,newSpeed)
else:
print "Could not move motors, CANBus is not intialized"
def __init__(self, axisID):
self.mAxisID = axisID
# self.mCOBIDTx = "60"+str(self.mAxisID)
# self.mCOBIDRx = "58"+str(self.mAxisID)
# Get the ref values
self.mStepsPerUnit = MOTOR_AXIS_PARAMETERS[axisID-1][0]
self.mRefPosSteps = MOTOR_AXIS_PARAMETERS[axisID-1][1]
self.mRefPos = MOTOR_AXIS_PARAMETERS[axisID-1][2]
# Do not move at MAX speed
self.mPosSpeed = MOTOR_AXIS_PARAMETERS[axisID-1][3] / 2
# Initialize the PCAN if necessary
if not can_control.isInitialized():
can_control.initializePCAN()
def startMoving(self, newPos, newSpeed=None):
possteps = self.convertPosToSteps(newPos)
if newSpeed == None:
newSpeed = self.mPosSpeed
else:
# convert from degs / second to incrs / 64 seconds
newSpeed = int(newSpeed * self.mStepsPerUnit * 64)
print newSpeed
if can_control.isInitialized():
can_control.prepareMovement(self.mAxisID)
can_control.startMotorMovementToPos(self.mAxisID, possteps,
newSpeed)
else:
print "Could not move motors, CANBus is not intialized"
def __init__(self, axisID):
self.mAxisID = axisID
# self.mCOBIDTx = "60"+str(self.mAxisID)
# self.mCOBIDRx = "58"+str(self.mAxisID)
# Get the ref values
self.mStepsPerUnit = MOTOR_AXIS_PARAMETERS[axisID - 1][0]
self.mRefPosSteps = MOTOR_AXIS_PARAMETERS[axisID - 1][1]
self.mRefPos = MOTOR_AXIS_PARAMETERS[axisID - 1][2]
# Do not move at MAX speed
self.mPosSpeed = MOTOR_AXIS_PARAMETERS[axisID - 1][3] / 2
# Initialize the PCAN if necessary
if not can_control.isInitialized():
can_control.initializePCAN()
def moveImmediateSynchronous(self, newPos, newSpeed=None):
possteps = self.convertPosToSteps(newPos)
if newSpeed == None:
newSpeed = self.mPosSpeed
else:
# convert from degs / second to incrs / 64 seconds
newSpeed = int(newSpeed * self.mStepsPerUnit * 64)
print newSpeed
if can_control.isInitialized():
can_control.prepareMovement(self.mAxisID)
can_control.resetErrors(self.mAxisID)
can_control.setMotorPos(self.mAxisID,possteps,newSpeed)
can_control.finishMovement(self.mAxisID)
else:
print "Could not move motors, CANBus is not intialized"
def moveImmediateSynchronous(self, newPos, newSpeed=None):
possteps = self.convertPosToSteps(newPos)
if newSpeed == None:
newSpeed = self.mPosSpeed
else:
# convert from degs / second to incrs / 64 seconds
newSpeed = int(newSpeed * self.mStepsPerUnit * 64)
print newSpeed
if can_control.isInitialized():
can_control.prepareMovement(self.mAxisID)
can_control.resetErrors(self.mAxisID)
can_control.setMotorPos(self.mAxisID, possteps, newSpeed)
can_control.finishMovement(self.mAxisID)
else:
print "Could not move motors, CANBus is not intialized"
def getPositionHex(self):
if can_control.isInitialized():
return "{0:08X}".format(can_control.getMotorPos(self.mAxisID))
else:
print "Could not get motor position, CANBus is not intialized"
return 0
def getPositionHex(self):
if can_control.isInitialized():
return "{0:08X}".format(can_control.getMotorPos(self.mAxisID))
else:
print "Could not get motor position, CANBus is not intialized"
return 0
