def __init__(self):
# Open communications with sensor Arduino board and motor
for device in list_ports.comports():
if device.description == 'Trinamic Stepper Device':
motorPort = device.device
self.sens = sensorShield.sensorShield()
try:
myInterface = serial_tmcl_interface(motorPort)
self.module = TMCM_1160(myInterface)
except:
print('Motor device not found')
sys.exit()
print("Opened connection to sensors")
PyTrinamic.showInfo()
PyTrinamic.showAvailableComPorts()
print("\n")
'''
if __name__ == '__main__':
pass
import time
import PyTrinamic
from PyTrinamic.connections.serial_tmcl_interface import serial_tmcl_interface
from PyTrinamic.evalboards.TMC4671_eval import TMC4671_eval
from PyTrinamic.ic.TMC4671.TMC4671_register import TMC4671_register
from PyTrinamic.ic.TMC4671.TMC4671_mask_shift import TMC4671_mask_shift
PyTrinamic.showInfo()
PyTrinamic.showAvailableComPorts()
myInterface = serial_tmcl_interface('COM5')
tmc4671_eval = TMC4671_eval(myInterface)
tmc4671_eval.showChipInfo()
tmc4671_reg = TMC4671_register()
tmc4671_ms = TMC4671_mask_shift()
" configure TMC4671 for a BLDC motor with ABN-Encoder "
" Motor type & PWM configuration "
myInterface.writeMC(tmc4671_reg.MOTOR_TYPE_N_POLE_PAIRS, 0x00030004)
myInterface.writeMC(tmc4671_reg.PWM_POLARITIES, 0x00000000)
myInterface.writeMC(tmc4671_reg.PWM_MAXCNT, int(0x00000F9F))
myInterface.writeMC(tmc4671_reg.PWM_BBM_H_BBM_L, 0x00000505)
myInterface.writeMC(tmc4671_reg.PWM_SV_CHOP, 0x00000007)
# Define parameters of magnet + shuttle system
B0 = setup.B0 # Magnetic field strength at centre of magnet (Tesla)
Circ = setup.circ # Circumference of spindle wheel (cm)
BSample = float(sys.argv[3]) # Sample field strength (mT)
speed = float(sys.argv[6]) # Motor speed (cm/s)
accel = float(sys.argv[7]) # Acceleration (cm/s^2)
dist = float(sys.argv[8]) # Distance to move (cm)
ramp = str(sys.argv[9]) # Equation for velocity ramp
# Open communications with motor driver
PyTrinamic.showInfo()
for device in list_ports.comports():
if device.description == 'Trinamic Stepper Device':
port = device.device
try:
myInterface = serial_tmcl_interface(port)
except:
print('Motor driver not found')
terminate()
module = TMCM_1160(myInterface)
print("\n")
# Reset all error flags
module.setUserVariable(9, 0) #Clear motor error flags
module.setUserVariable(8, 0) #Set position to 'down'
# Get operation mode
mode = int(sys.argv[1]
) # 1 = Constant velocity, 2 = Velocity sweep, 3 = Constant time
# Get tube type and fetch appropriate stall guard settings
if __name__ == '__main__':
pass
import time
import PyTrinamic
from PyTrinamic.connections.serial_tmcl_interface import serial_tmcl_interface
from PyTrinamic.modules.TMCM_1640 import TMCM_1640
PyTrinamic.showInfo()
PyTrinamic.showAvailableComPorts()
" for usb connection "
#myInterface = serial_tmcl_interface('COM9')
" for RS485 connection "
myInterface = serial_tmcl_interface('COM16', '9600')
module = TMCM_1640(myInterface)
" motor configuration "
module.setMotorPoles(8)
module.setMaxTorque(2000)
module.showMotorConfiguration()
" hall configuration "
module.setHallInvert(0)
module.showHallConfiguration()
" motion settings "
module.setMaxVelocity(1000)
module.setAcceleration(2000)
# If the encoding failed, abort here
if not (table):
exit(1)
# Display register values and plots of the waveforms
table.printRegisters()
table.plotQuarterWave(block=False)
table.plotXY(block=False)
table.plotWaveform(block=True)
if not (UPLOAD_TABLE):
exit(0)
# Upload the table to a TMC5041 connected over USB
myInterface = serial_tmcl_interface(
PyTrinamic.firstAvailableComPort(USB=True))
TMC5041 = TMC5041_eval(myInterface)
TMC5041.writeRegister(TMC5041.registers.MSLUT0, table._reg_MSLUT[0])
TMC5041.writeRegister(TMC5041.registers.MSLUT1, table._reg_MSLUT[1])
TMC5041.writeRegister(TMC5041.registers.MSLUT2, table._reg_MSLUT[2])
TMC5041.writeRegister(TMC5041.registers.MSLUT3, table._reg_MSLUT[3])
TMC5041.writeRegister(TMC5041.registers.MSLUT4, table._reg_MSLUT[4])
TMC5041.writeRegister(TMC5041.registers.MSLUT5, table._reg_MSLUT[5])
TMC5041.writeRegister(TMC5041.registers.MSLUT6, table._reg_MSLUT[6])
TMC5041.writeRegister(TMC5041.registers.MSLUT7, table._reg_MSLUT[7])
TMC5041.writeRegister(TMC5041.registers.MSLUTSEL, table._reg_MSLUTSEL)
TMC5041.writeRegister(TMC5041.registers.MSLUTSTART, table._reg_MSLUTSTART)
myInterface.close()
