Slush.Motor.Motor Class Reference

Inheritance diagram for Slush.Motor.Motor:

Public Member Functions
def	__init__
def	init_chips (self)
def	gpio_callback (self)
def	initPeripherals (self)
def	isBusy (self)
def	waitMoveFinish (self)
def	setMicroSteps
def	setThresholdSpeed (self, thresholdSpeed)
def	setCurrent (self, hold, run, acc, dec)
def	setMaxSpeed (self, speed)
def	setMinSpeed
def	setAccel
def	setDecel
def	getPosition (self)
def	getSpeed (self)
def	setOverCurrent (self, ma_current)
def	setStallCurrent (self, ma_current)
def	setLowSpeedOpt
def	setSlope (self, speed, start, acc, dec)
def	run
def	stepClock
def	move
def	goTo
def	goToDir
def	setLimitHardStop
def	goUntilPress (self, act, dir, spd)
def	getSwitch (self)
def	goUntilRelease (self, act, dir)
def	readSwitch (self)
def	goHome (self)
def	goMark (self)
def	setMark (self, value)
def	setAsHome (self)
def	resetDev (self)
def	softStop (self)
def	hardStop (self)
def	softFree (self)
def	free (self)
def	getStatus (self)
def	accCalc
def	decCalc
def	maxSpdCalc
def	minSpdCalc
def	fsCalc
def	intSpdCalc
def	spdCalc
def	param
def	xfer (self, data)
def	setParam (self, param, value)
def	getParam
def	convert (self, val)
def	paramHandler
Public Member Functions inherited from Slush.Board.sBoard
def	__init__ (self, board='XLT', debug="LOW")
def	set_debug_level
def	initGPIOState (self)
def	initSPI (self)
def	initI2C (self)
def	deinitBoard (self)
def	setIOState (self, port, pinNumber, state)
def	getIOState (self, port, pinNumber)
def	readInput (self, inputNumber)
def	setOutput (self, outputNumber, state)
def	readAnalog (self, inputNumber)
def	setPWMOutput (self, outputNumber, pwmVal)

Public Attributes
	chipSelect
	chip_select
	port
	debug
	boardInUse
Public Attributes inherited from Slush.Board.sBoard
	board
	debug
	bus
	chip

Static Public Attributes
dictionary	chip_assignments
int	boardInUse = 0
Static Public Attributes inherited from Slush.Board.sBoard
int	chip = 0
int	bus = 0

Detailed Description

Class to control a stepper motor

Dictionary holding all of the associated motor chip selects for a given port

Member Function Documentation

def Slush.Motor.Motor.init_chips	(		self,
			None
	)

Initialize all of the stepper motor chips. Set each chips ALARM register to ignore UVLO events.

Setup the gpio flag pin to be an input and setup event detection.
:return: None

def Slush.Motor.Motor.gpio_callback	(		self,
			None
	)

Function called when the trigger pin has been activated. References self.debug which is inherited from Slush.Board
If the debug level is "OFF" nothing will happen
If the debug level is "LOW" there will be a console print notifying of the trigger
If the debug level is "HIGH" all motors will be freed and the program will exit
:return: None

def Slush.Motor.Motor.initPeripherals	(		self,
			None
	)

Initialize the appropriate pins and busses
:return: None

def Slush.Motor.Motor.isBusy	(		self,
			bool
	)

Check to see if the motion engine is busy
:return: Bool representing whether the motion engine is busy

def Slush.Motor.Motor.waitMoveFinish	(		self,
			None
	)

Wait for the motor to finish moving.
NOTE: This method is blocking
:return: None

def Slush.Motor.Motor.setThresholdSpeed	(		self,
			thresholdSpeed,
			None
	)

Set the threshold speed of the motor
:param thresholdSpeed: Threshold speed the motor is allowed to run at
:return: None

def Slush.Motor.Motor.setCurrent	(		self,
			hold,
			run,
			acc,
			dec,
			None
	)

Set the motors current values
:param hold: Amount of hold current
:param run: Amount of run current
:param acc: Amount of acceleration current
:param dec: Amount of decceleration current
:return: None

def Slush.Motor.Motor.setMaxSpeed	(		self,
			speed,
			None
	)

Set the maximum speed the motor will run at
:param speed: Motor's maximum speed
:return: None

def Slush.Motor.Motor.getPosition	(		self,
			float
	)

Get the current position of the stepper motor, based upon it's home value
:rtype:float
:return: The current position of the stepper motor, based upon it's home value

def Slush.Motor.Motor.getSpeed	(		self,
			int
	)

Get the speed of the motor
:rtype: int
:return: The speed of the motor

def Slush.Motor.Motor.setOverCurrent	(		self,
			ma_current,
			None
	)

Set the over current threshold.
:param ma_current: The over current threshold amount in milliamps
:return: None

def Slush.Motor.Motor.setStallCurrent	(		self,
			ma_current
	)

Set the stall current
:param ma_current: Stall current amount in milliamps
:return: None

def Slush.Motor.Motor.goUntilRelease	(		self,
			act,
			dir,
			None
	)

Move the stepper motor until the attached switch has been released
:param act:
:param dir: Direction to move the motor (0 or 1)
:return: None

def Slush.Motor.Motor.readSwitch	(		self,
			bool
	)

Read the value of the attached switch to the stepper motor
:rtype: bool
:return: Boolean whether the switch is depressed

def Slush.Motor.Motor.goHome	(		self,
			None
	)

Move the stepper motor to it's home position
:return: None

def Slush.Motor.Motor.goMark	(		self,
			None
	)

Move the stepper motor to it's mark position
:return: None

def Slush.Motor.Motor.setMark	(		self,
			value,
			None
	)

Set the stepper motor's mark value
:param value: Value to set mark at
:return: None

def Slush.Motor.Motor.setAsHome	(		self,
			None
	)

Set the stepper motor's current position to be it's new home position
:return: None

def Slush.Motor.Motor.resetDev

(

self

)

NOTE: This method has been deprecated as it interferes with GPIO chip monitoring
Reset the device to initial conditions.
:return:

def Slush.Motor.Motor.softStop	(		self,
			None
	)

Stop the stepper motor by decelerating
:return: None

def Slush.Motor.Motor.hardStop	(		self,
			None
	)

Immediately stop the stepper motor without deceleration
:return: None

def Slush.Motor.Motor.softFree	(		self,
			None
	)

Decelerate the stepper motor and disable hold
:return: None

def Slush.Motor.Motor.free	(		self,
			None
	)

Disable the stepper motor, allow it to move freely
:return: None

def Slush.Motor.Motor.getStatus	(		self,
			int
	)

Get the status of the stepper motor.
:rtype: int
:return: Decimal representation of the stepper motors status register

def Slush.Motor.Motor.xfer	(		self,
			data
	)

Transfer data to the spi bus
:param data: data to transfer
:return: Response from the spi bus

def Slush.Motor.Motor.convert	(		self,
			val,
			int
	)

Convert twos compliment
:param val: value to convert
:return: Values two compliment

Member Data Documentation

dictionary Slush.Motor.Motor.chip_assignments

static

Initial value:

= {0: SLX.MTR0_ChipSelect, 1: SLX.MTR1_ChipSelect, 2: SLX.MTR2_ChipSelect, 3: SLX.MTR3_ChipSelect,
                        4: SLX.MTR4_ChipSelect, 5: SLX.MTR5_ChipSelect, 6: SLX.MTR6_ChipSelect}

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The documentation for this class was generated from the following file:

• Slush/Motor.py