def readRegister(self,
registerAddress,
command,
channel,
moduleID=None,
signed=False):
value = self.send(command, registerAddress, channel, 0, moduleID).value
return TMC_helpers.toSigned32(value) if signed else value
def readRegister(self, registerAddress, signed=False):
datagram = struct.pack(DATAGRAM_FORMAT, registerAddress, 0)
reply = self.__connection.send_datagram(datagram, DATAGRAM_LENGTH,
self.__channel)
values = struct.unpack(DATAGRAM_FORMAT, reply)
value = values[1]
return TMC_helpers.toSigned32(value) if signed else value
def parameter(self,
pCommand,
pType,
pAxis,
pValue,
moduleID=None,
signed=False):
value = self.send(pCommand, pType, pAxis, pValue, moduleID).value
return TMC_helpers.toSigned32(value) if signed else value
def actualVelocity(self):
return TMC_helpers.toSigned32(self.axisParameter(self.APs.ActualVelocity))
def actualPosition(self):
return TMC_helpers.toSigned32(self.axisParameter(self.APs.ActualPosition))
def actualTorque(self):
return TMC_helpers.toSigned32(self.axisParameter(self.AP.ActualTorque))
def targetTorque(self):
return TMC_helpers.toSigned32(self.axisParameter(self.AP.TargetTorque))
def targetPosition(self):
return TMC_helpers.toSigned32(self.axisParameter(self.AP.TargetPosition))
def actualVolume(self):
reg_value = self.axisParameter(self.APs.ActualVolume)
return TMC_helpers.toSigned32(reg_value)
def globalParameter(self, commandType, bank, moduleID=None, signed=False):
value = self.send(TMCL_Command.GGP, commandType, bank, 0,
moduleID).value
return TMC_helpers.toSigned32(value) if signed else value
def axisParameter(self, commandType, axis, moduleID=None, signed=False):
value = self.send(TMCL_Command.GAP, commandType, axis, 0,
moduleID).value
return TMC_helpers.toSigned32(value) if signed else value
def globalParameter(self, commandType, axis):
return TMC_helpers.toSigned32(self.send(self.moduleAddress, TMCL_Command.GGP, commandType, axis, 0).value)
def actualVelocity(self):
return TMC_helpers.toSigned32(
self.readRegister(self.tmc4671_reg.PID_VELOCITY_ACTUAL))