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