def __init__(self, number, config, machine):
"""Initialise stepper."""
self.config = config
self.log = logging.getLogger('TIC Stepper')
self.log.debug("Configuring Stepper Parameters.")
self.serial_number = number
self.tic = PololuTiccmdWrapper(self.serial_number, machine, False)
self.machine = machine
self._position = None
self._watchdog_task = None
if self.config['step_mode'] not in [1, 2, 4, 8, 16, 32]:
raise ConfigFileError("step_mode must be one of (1, 2, 4, 8, 16, or 32)", 1, self.log.name)
if self.config['max_speed'] <= 0:
raise ConfigFileError("max_speed must be greater than 0", 2, self.log.name)
if self.config['max_speed'] > 500000000:
raise ConfigFileError("max_speed must be less than or equal to 500,000,000", 3, self.log.name)
def __init__(self, number, config, platform):
"""Initialise stepper."""
self.config = config
self.log = logging.getLogger('TIC Stepper')
self.log.debug("Configuring Stepper Parameters.")
self.serial_number = number
self.tic = PololuTiccmdWrapper(self.serial_number, platform.machine, False)
self.machine = platform.machine # type: MachineController
self.platform = platform
self._position = None
self._watchdog_task = None
self._poll_task = None
self._move_complete = asyncio.Event()
self._switch_state = {}
if self.config['step_mode'] not in [1, 2, 4, 8, 16, 32]:
raise ConfigFileError("step_mode must be one of (1, 2, 4, 8, 16, or 32)", 1, self.log.name)
if self.config['max_speed'] <= 0:
raise ConfigFileError("max_speed must be greater than 0", 2, self.log.name)
if self.config['max_speed'] > 500000000:
raise ConfigFileError("max_speed must be less than or equal to 500,000,000", 3, self.log.name)
class PololuTICStepper(StepperPlatformInterface):
"""A stepper on a pololu TIC."""
def __init__(self, number, config, machine):
"""Initialise stepper."""
self.config = config
self.log = logging.getLogger('TIC Stepper')
self.log.debug("Configuring Stepper Parameters.")
self.serial_number = number
self.tic = PololuTiccmdWrapper(self.serial_number, machine, False)
self.machine = machine
self._position = None
self._watchdog_task = None
if self.config['step_mode'] not in [1, 2, 4, 8, 16, 32]:
raise ConfigFileError(
"step_mode must be one of (1, 2, 4, 8, 16, or 32)", 1,
self.log.name)
if self.config['max_speed'] <= 0:
raise ConfigFileError("max_speed must be greater than 0", 2,
self.log.name)
if self.config['max_speed'] > 500000000:
raise ConfigFileError(
"max_speed must be less than or equal to 500,000,000", 3,
self.log.name)
async def initialize(self):
"""Configure the stepper."""
self.log.debug("Looking for TIC Device with serial number %s.",
self.serial_number)
status = await self.tic.get_status()
if "Low VIN" in status['Errors currently stopping the motor']:
self.log.debug("WARNING: Reporting Low VIN")
self._position = status['Current position']
self.log.debug("TIC Status: ")
self.log.debug(status)
self.tic.set_step_mode(self.config['step_mode'])
self.tic.set_max_speed(self.config['max_speed'])
self.tic.set_starting_speed(self.config['starting_speed'])
self.tic.set_max_acceleration(self.config['max_acceleration'])
self.tic.set_max_deceleration(self.config['max_deceleration'])
self.tic.set_current_limit(self.config['current_limit'])
self.tic.exit_safe_start()
self.tic.energize()
self._watchdog_task = self.machine.clock.schedule_interval(
self._reset_command_timeout, .5)
def _reset_command_timeout(self):
"""Reset the command timeout."""
self.tic.reset_command_timeout()
def home(self, direction):
"""Home an axis, resetting 0 position."""
self.tic.halt_and_hold() # stop the stepper in case its moving
self._position = 0
if direction == 'clockwise':
self.log.debug("Homing clockwise")
self.tic.go_home(True)
elif direction == 'counterclockwise':
self.log.debug("Homing counterclockwise")
self.tic.go_home(False)
def move_abs_pos(self, position):
"""Move axis to a certain absolute position."""
self.log.debug("Moving To Absolute Position: %s", position)
self._position = position
self.tic.rotate_to_position(self._position)
def move_rel_pos(self, position):
"""Move axis to a relative position."""
self._position += position
self.log.debug("Moving To Relative Position: %s (Absolute: %s)",
position, self._position)
self.tic.rotate_to_position(self._position)
def move_vel_mode(self, velocity):
"""Move at a specific velocity and direction (pos = clockwise, neg = counterclockwise)."""
if velocity == 0:
self.log.debug("Stopping Due To Velocity Set To 0")
self.tic.halt_and_hold() # motor stop
else:
calculated_velocity = velocity * self.config['max_speed']
self.log.debug("Rotating By Velocity (velocity * max_speed): %s",
calculated_velocity)
self.tic.rotate_by_velocity(calculated_velocity)
def set_home_position(self):
"""Set position to home."""
self.set_position(0)
def set_position(self, position):
"""Set the current position of the stepper.
Args:
position (number): The position to set
"""
self.log.debug("Setting Position To %s", position)
self._position = position
self.tic.halt_and_set_position(position)
def stop(self) -> None:
"""Stop stepper."""
self.log.debug("Commanded To Stop")
self.tic.halt_and_hold()
def shutdown(self):
"""Shutdown stepper."""
if self._watchdog_task:
self._watchdog_task.cancel()
self._watchdog_task = None
self.tic.halt_and_hold()
self.tic.stop()
async def wait_for_move_completed(self):
"""Wait until move completed."""
while not await self.is_move_complete():
await asyncio.sleep(1 / self.config['poll_ms'],
loop=self.machine.clock.loop)
async def is_move_complete(self) -> bool:
"""Return true if move is complete."""
status = await self.tic.get_status()
current_position = status['Current position']
self.log.debug("Target Position: %s Current Position: %s",
self._position, current_position)
return bool(self._position == current_position)
class PololuTICStepper(StepperPlatformInterface):
"""A stepper on a Pololu TIC."""
def __init__(self, number, config, platform):
"""Initialise stepper."""
self.config = config
self.log = logging.getLogger('TIC Stepper')
self.log.debug("Configuring Stepper Parameters.")
self.serial_number = number
self.tic = PololuTiccmdWrapper(self.serial_number, platform.machine, False)
self.machine = platform.machine # type: MachineController
self.platform = platform
self._position = None
self._watchdog_task = None
self._poll_task = None
self._move_complete = asyncio.Event()
self._switch_state = {}
if self.config['step_mode'] not in [1, 2, 4, 8, 16, 32]:
raise ConfigFileError("step_mode must be one of (1, 2, 4, 8, 16, or 32)", 1, self.log.name)
if self.config['max_speed'] <= 0:
raise ConfigFileError("max_speed must be greater than 0", 2, self.log.name)
if self.config['max_speed'] > 500000000:
raise ConfigFileError("max_speed must be less than or equal to 500,000,000", 3, self.log.name)
async def initialize(self):
"""Configure the stepper."""
self.log.debug("Looking for TIC Device with serial number %s.", self.serial_number)
status = await self.tic.get_status()
if "Low VIN" in status['Errors currently stopping the motor']:
self.log.debug("WARNING: Reporting Low VIN")
self._position = status['Current position']
self.log.debug("TIC Status: ")
self.log.debug(status)
self.tic.set_step_mode(self.config['step_mode'])
self.tic.set_max_speed(self.config['max_speed'])
self.tic.set_starting_speed(self.config['starting_speed'])
self.tic.set_max_acceleration(self.config['max_acceleration'])
self.tic.set_max_deceleration(self.config['max_deceleration'])
self.tic.set_current_limit(self.config['current_limit'])
self.tic.exit_safe_start()
self.tic.energize()
self._switch_state = self.get_switch_state(status)
self._watchdog_task = self.machine.clock.schedule_interval(self._reset_command_timeout, .5)
self._poll_task = self.machine.clock.loop.create_task(self._poll_status(1 / self.config['poll_ms']))
self._poll_task.add_done_callback(Util.raise_exceptions)
async def _poll_status(self, wait_time):
while True:
await asyncio.sleep(wait_time)
status = await self.tic.get_status()
current_position = status['Current position']
if self._position != current_position:
self.log.debug("Target Position: %s Current Position: %s", self._position, current_position)
elif not self._move_complete.is_set():
self._move_complete.set()
switch_state = self.get_switch_state(status)
if switch_state != self._switch_state:
for switch, state in switch_state.items():
if state != self._switch_state[switch]:
self.machine.switch_controller.process_switch_by_num(num=switch, state=state,
platform=self.platform)
self._switch_state = switch_state
def get_switch_state(self, status):
"""Return switch status based on status info."""
switches = {"{}-SCL".format(self.serial_number): not bool(status['SCL pin']['Digital reading']),
"{}-SDA".format(self.serial_number): not bool(status['SDA pin']['Digital reading']),
"{}-TX".format(self.serial_number): not bool(status['TX pin']['Digital reading']),
"{}-RX".format(self.serial_number): not bool(status['RX pin']['Digital reading']),
"{}-RC".format(self.serial_number): not bool(status['RC pin']['Digital reading'])}
return switches
def _reset_command_timeout(self):
"""Reset the command timeout."""
self.tic.reset_command_timeout()
def home(self, direction):
"""Home an axis, resetting 0 position."""
self.tic.halt_and_hold() # stop the stepper in case its moving
self._position = 0
self._move_complete.clear()
if direction == 'clockwise':
self.log.debug("Homing clockwise")
self.tic.go_home(True)
elif direction == 'counterclockwise':
self.log.debug("Homing counterclockwise")
self.tic.go_home(False)
def move_abs_pos(self, position):
"""Move axis to a certain absolute position."""
self.log.debug("Moving To Absolute Position: %s", position)
self._position = position
self._move_complete.clear()
self.tic.rotate_to_position(self._position)
def move_rel_pos(self, position):
"""Move axis to a relative position."""
self._position += position
self._move_complete.clear()
self.log.debug("Moving To Relative Position: %s (Absolute: %s)", position, self._position)
self.tic.rotate_to_position(self._position)
def move_vel_mode(self, velocity):
"""Move at a specific velocity and direction (pos = clockwise, neg = counterclockwise)."""
if velocity == 0:
self.log.debug("Stopping Due To Velocity Set To 0")
self.tic.halt_and_hold() # motor stop
else:
calculated_velocity = velocity * self.config['max_speed']
self.log.debug("Rotating By Velocity (velocity * max_speed): %s", calculated_velocity)
self.tic.rotate_by_velocity(calculated_velocity)
def set_home_position(self):
"""Set position to home."""
self.set_position(0)
def set_position(self, position):
"""Set the current position of the stepper.
Args:
----
position (number): The position to set
"""
self.log.debug("Setting Position To %s", position)
self._position = position
self._move_complete.set()
self.tic.halt_and_set_position(position)
def stop(self) -> None:
"""Stop stepper."""
self.log.debug("Commanded To Stop")
self.tic.halt_and_hold()
def shutdown(self):
"""Shutdown stepper."""
if self._watchdog_task:
self._watchdog_task.cancel()
self._watchdog_task = None
if self._poll_task:
self._poll_task.cancel()
self._poll_task = None
self.tic.halt_and_hold()
self.tic.deengerize()
self.tic.stop()
async def wait_for_move_completed(self):
"""Wait until move completed."""
return await self._move_complete.wait()
