PyTmcStepper/demo/demo_script_03_basic_movement.py at main · Chr157i4n/PyTmcStepper · GitHub

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"""
Demo file for basic movement
"""

from tmc_driver import (
    Tmc2209,
    Loglevel,
    Board,
    tmc_gpio,
    MovementAbsRel,
    TmcEnableControlPin,
    TmcMotionControlStepDir,
)
from tmc_driver.com import TmcComUart


print("---")
print("SCRIPT START")
print("---")


# -----------------------------------------------------------------------
# initiate the Tmc2209 class
# use your pins for pin_en, pin_step, pin_dir here
# -----------------------------------------------------------------------
UART_PORT = {
    Board.RASPBERRY_PI: "/dev/serial0",
    Board.RASPBERRY_PI5: "/dev/ttyAMA0",
    Board.NVIDIA_JETSON: "/dev/ttyTHS1",
}

tmc = Tmc2209(
    TmcEnableControlPin(21),
    TmcMotionControlStepDir(16, 20),
    TmcComUart(UART_PORT.get(tmc_gpio.BOARD, "/dev/serial0")),
    loglevel=Loglevel.DEBUG,
)


# -----------------------------------------------------------------------
# set the loglevel of the libary (currently only printed)
# set whether the movement should be relative or absolute
# both optional
# -----------------------------------------------------------------------
tmc.tmc_logger.loglevel = Loglevel.DEBUG
tmc.movement_abs_rel = MovementAbsRel.ABSOLUTE


# -----------------------------------------------------------------------
# these functions change settings in the TMC register
# -----------------------------------------------------------------------
tmc.set_direction_reg(False)
tmc.set_current_rms(300)
tmc.set_interpolation(True)
tmc.set_spreadcycle(False)
tmc.set_microstepping_resolution(2)
tmc.set_internal_rsense(False)


print("---\n---")


# -----------------------------------------------------------------------
# these functions read and print the current settings in the TMC register
# -----------------------------------------------------------------------
tmc.read_register("ioin")
tmc.read_register("chopconf")
tmc.read_register("drvstatus")
tmc.read_register("gconf")

print("---\n---")


# -----------------------------------------------------------------------
# set the Acceleration and maximal Speed
# -----------------------------------------------------------------------
# tmc.set_acceleration(2000)
# tmc.set_max_speed(500)

# -----------------------------------------------------------------------
# set the Acceleration and maximal Speed in fullsteps
# -----------------------------------------------------------------------
tmc.acceleration_fullstep = 1000
tmc.max_speed_fullstep = 250


# -----------------------------------------------------------------------
# activate the motor current output
# -----------------------------------------------------------------------
tmc.set_motor_enabled(True)


# -----------------------------------------------------------------------
# move the motor 1 revolution
# -----------------------------------------------------------------------
tmc.run_to_position_fullsteps(200)  # move to position 200 (fullsteps)
tmc.run_to_position_fullsteps(0)  # move to position 0

tmc.run_to_position_fullsteps(
    200, MovementAbsRel.RELATIVE
)  # move 200 fullsteps forward
tmc.run_to_position_fullsteps(
    -200, MovementAbsRel.RELATIVE
)  # move 200 fullsteps backward

tmc.run_to_position_steps(400)  # move to position 400 (µsteps)
tmc.run_to_position_steps(0)  # move to position 0

tmc.run_to_position_revolutions(1)  # move 1 revolution forward
tmc.run_to_position_revolutions(0)  # move 1 revolution backward


# -----------------------------------------------------------------------
# deactivate the motor current output
# -----------------------------------------------------------------------
tmc.set_motor_enabled(False)

print("---\n---")


# -----------------------------------------------------------------------
# deinitiate the Tmc2209 class
# -----------------------------------------------------------------------
del tmc

print("---")
print("SCRIPT FINISHED")
print("---")