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+ GNU GENERAL PUBLIC LICENSE
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+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
+++ /dev/null
-#!python
-"""Bootstrap setuptools installation
-
-If you want to use setuptools in your package's setup.py, just include this
-file in the same directory with it, and add this to the top of your setup.py::
-
- from ez_setup import use_setuptools
- use_setuptools()
-
-If you want to require a specific version of setuptools, set a download
-mirror, or use an alternate download directory, you can do so by supplying
-the appropriate options to ``use_setuptools()``.
-
-This file can also be run as a script to install or upgrade setuptools.
-"""
-import sys
-DEFAULT_VERSION = "0.6c9"
-DEFAULT_URL = "http://pypi.python.org/packages/%s/s/setuptools/" % sys.version[:3]
-
-md5_data = {
- 'setuptools-0.6b1-py2.3.egg': '8822caf901250d848b996b7f25c6e6ca',
- 'setuptools-0.6b1-py2.4.egg': 'b79a8a403e4502fbb85ee3f1941735cb',
- 'setuptools-0.6b2-py2.3.egg': '5657759d8a6d8fc44070a9d07272d99b',
- 'setuptools-0.6b2-py2.4.egg': '4996a8d169d2be661fa32a6e52e4f82a',
- 'setuptools-0.6b3-py2.3.egg': 'bb31c0fc7399a63579975cad9f5a0618',
- 'setuptools-0.6b3-py2.4.egg': '38a8c6b3d6ecd22247f179f7da669fac',
- 'setuptools-0.6b4-py2.3.egg': '62045a24ed4e1ebc77fe039aa4e6f7e5',
- 'setuptools-0.6b4-py2.4.egg': '4cb2a185d228dacffb2d17f103b3b1c4',
- 'setuptools-0.6c1-py2.3.egg': 'b3f2b5539d65cb7f74ad79127f1a908c',
- 'setuptools-0.6c1-py2.4.egg': 'b45adeda0667d2d2ffe14009364f2a4b',
- 'setuptools-0.6c2-py2.3.egg': 'f0064bf6aa2b7d0f3ba0b43f20817c27',
- 'setuptools-0.6c2-py2.4.egg': '616192eec35f47e8ea16cd6a122b7277',
- 'setuptools-0.6c3-py2.3.egg': 'f181fa125dfe85a259c9cd6f1d7b78fa',
- 'setuptools-0.6c3-py2.4.egg': 'e0ed74682c998bfb73bf803a50e7b71e',
- 'setuptools-0.6c3-py2.5.egg': 'abef16fdd61955514841c7c6bd98965e',
- 'setuptools-0.6c4-py2.3.egg': 'b0b9131acab32022bfac7f44c5d7971f',
- 'setuptools-0.6c4-py2.4.egg': '2a1f9656d4fbf3c97bf946c0a124e6e2',
- 'setuptools-0.6c4-py2.5.egg': '8f5a052e32cdb9c72bcf4b5526f28afc',
- 'setuptools-0.6c5-py2.3.egg': 'ee9fd80965da04f2f3e6b3576e9d8167',
- 'setuptools-0.6c5-py2.4.egg': 'afe2adf1c01701ee841761f5bcd8aa64',
- 'setuptools-0.6c5-py2.5.egg': 'a8d3f61494ccaa8714dfed37bccd3d5d',
- 'setuptools-0.6c6-py2.3.egg': '35686b78116a668847237b69d549ec20',
- 'setuptools-0.6c6-py2.4.egg': '3c56af57be3225019260a644430065ab',
- 'setuptools-0.6c6-py2.5.egg': 'b2f8a7520709a5b34f80946de5f02f53',
- 'setuptools-0.6c7-py2.3.egg': '209fdf9adc3a615e5115b725658e13e2',
- 'setuptools-0.6c7-py2.4.egg': '5a8f954807d46a0fb67cf1f26c55a82e',
- 'setuptools-0.6c7-py2.5.egg': '45d2ad28f9750e7434111fde831e8372',
- 'setuptools-0.6c8-py2.3.egg': '50759d29b349db8cfd807ba8303f1902',
- 'setuptools-0.6c8-py2.4.egg': 'cba38d74f7d483c06e9daa6070cce6de',
- 'setuptools-0.6c8-py2.5.egg': '1721747ee329dc150590a58b3e1ac95b',
- 'setuptools-0.6c9-py2.3.egg': 'a83c4020414807b496e4cfbe08507c03',
- 'setuptools-0.6c9-py2.4.egg': '260a2be2e5388d66bdaee06abec6342a',
- 'setuptools-0.6c9-py2.5.egg': 'fe67c3e5a17b12c0e7c541b7ea43a8e6',
-}
-
-import sys, os
-try: from hashlib import md5
-except ImportError: from md5 import md5
-
-def _validate_md5(egg_name, data):
- if egg_name in md5_data:
- digest = md5(data).hexdigest()
- if digest != md5_data[egg_name]:
- print >>sys.stderr, (
- "md5 validation of %s failed! (Possible download problem?)"
- % egg_name
- )
- sys.exit(2)
- return data
-
-def use_setuptools(
- version=DEFAULT_VERSION, download_base=DEFAULT_URL, to_dir=os.curdir,
- download_delay=15
-):
- """Automatically find/download setuptools and make it available on sys.path
-
- `version` should be a valid setuptools version number that is available
- as an egg for download under the `download_base` URL (which should end with
- a '/'). `to_dir` is the directory where setuptools will be downloaded, if
- it is not already available. If `download_delay` is specified, it should
- be the number of seconds that will be paused before initiating a download,
- should one be required. If an older version of setuptools is installed,
- this routine will print a message to ``sys.stderr`` and raise SystemExit in
- an attempt to abort the calling script.
- """
- was_imported = 'pkg_resources' in sys.modules or 'setuptools' in sys.modules
- def do_download():
- egg = download_setuptools(version, download_base, to_dir, download_delay)
- sys.path.insert(0, egg)
- import setuptools; setuptools.bootstrap_install_from = egg
- try:
- import pkg_resources
- except ImportError:
- return do_download()
- try:
- pkg_resources.require("setuptools>="+version); return
- except pkg_resources.VersionConflict, e:
- if was_imported:
- print >>sys.stderr, (
- "The required version of setuptools (>=%s) is not available, and\n"
- "can't be installed while this script is running. Please install\n"
- " a more recent version first, using 'easy_install -U setuptools'."
- "\n\n(Currently using %r)"
- ) % (version, e.args[0])
- sys.exit(2)
- else:
- del pkg_resources, sys.modules['pkg_resources'] # reload ok
- return do_download()
- except pkg_resources.DistributionNotFound:
- return do_download()
-
-def download_setuptools(
- version=DEFAULT_VERSION, download_base=DEFAULT_URL, to_dir=os.curdir,
- delay = 15
-):
- """Download setuptools from a specified location and return its filename
-
- `version` should be a valid setuptools version number that is available
- as an egg for download under the `download_base` URL (which should end
- with a '/'). `to_dir` is the directory where the egg will be downloaded.
- `delay` is the number of seconds to pause before an actual download attempt.
- """
- import urllib2, shutil
- egg_name = "setuptools-%s-py%s.egg" % (version,sys.version[:3])
- url = download_base + egg_name
- saveto = os.path.join(to_dir, egg_name)
- src = dst = None
- if not os.path.exists(saveto): # Avoid repeated downloads
- try:
- from distutils import log
- if delay:
- log.warn("""
----------------------------------------------------------------------------
-This script requires setuptools version %s to run (even to display
-help). I will attempt to download it for you (from
-%s), but
-you may need to enable firewall access for this script first.
-I will start the download in %d seconds.
-
-(Note: if this machine does not have network access, please obtain the file
-
- %s
-
-and place it in this directory before rerunning this script.)
----------------------------------------------------------------------------""",
- version, download_base, delay, url
- ); from time import sleep; sleep(delay)
- log.warn("Downloading %s", url)
- src = urllib2.urlopen(url)
- # Read/write all in one block, so we don't create a corrupt file
- # if the download is interrupted.
- data = _validate_md5(egg_name, src.read())
- dst = open(saveto,"wb"); dst.write(data)
- finally:
- if src: src.close()
- if dst: dst.close()
- return os.path.realpath(saveto)
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-def main(argv, version=DEFAULT_VERSION):
- """Install or upgrade setuptools and EasyInstall"""
- try:
- import setuptools
- except ImportError:
- egg = None
- try:
- egg = download_setuptools(version, delay=0)
- sys.path.insert(0,egg)
- from setuptools.command.easy_install import main
- return main(list(argv)+[egg]) # we're done here
- finally:
- if egg and os.path.exists(egg):
- os.unlink(egg)
- else:
- if setuptools.__version__ == '0.0.1':
- print >>sys.stderr, (
- "You have an obsolete version of setuptools installed. Please\n"
- "remove it from your system entirely before rerunning this script."
- )
- sys.exit(2)
-
- req = "setuptools>="+version
- import pkg_resources
- try:
- pkg_resources.require(req)
- except pkg_resources.VersionConflict:
- try:
- from setuptools.command.easy_install import main
- except ImportError:
- from easy_install import main
- main(list(argv)+[download_setuptools(delay=0)])
- sys.exit(0) # try to force an exit
- else:
- if argv:
- from setuptools.command.easy_install import main
- main(argv)
- else:
- print "Setuptools version",version,"or greater has been installed."
- print '(Run "ez_setup.py -U setuptools" to reinstall or upgrade.)'
-
-def update_md5(filenames):
- """Update our built-in md5 registry"""
-
- import re
-
- for name in filenames:
- base = os.path.basename(name)
- f = open(name,'rb')
- md5_data[base] = md5(f.read()).hexdigest()
- f.close()
-
- data = [" %r: %r,\n" % it for it in md5_data.items()]
- data.sort()
- repl = "".join(data)
-
- import inspect
- srcfile = inspect.getsourcefile(sys.modules[__name__])
- f = open(srcfile, 'rb'); src = f.read(); f.close()
-
- match = re.search("\nmd5_data = {\n([^}]+)}", src)
- if not match:
- print >>sys.stderr, "Internal error!"
- sys.exit(2)
-
- src = src[:match.start(1)] + repl + src[match.end(1):]
- f = open(srcfile,'w')
- f.write(src)
- f.close()
-
-
-if __name__=='__main__':
- if len(sys.argv)>2 and sys.argv[1]=='--md5update':
- update_md5(sys.argv[2:])
- else:
- main(sys.argv[1:])
-
-
-
-
-
-
-#!/usr/bin/python
-#
# Python control of stepper motors.
+
+# Copyright (C) 2008-2011 W. Trevor King
#
-# Copyright (C) 2008-2009, W. Trevor King
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# * Redistributions of source code must retain the above copyright
-# notice, this list of conditions and the following disclaimer.
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
#
-# * Redistributions in binary form must reproduce the above copyright
-# notice, this list of conditions and the following disclaimer in
-# the documentation and/or other materials provided with the
-# distribution.
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
#
-# * Neither the name of the copyright holders nor the names of the
-# contributors may be used to endorse or promote products derived
-# from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-from pycomedi.single_dio import DO_port
-write = DO_port(chan=(0,1,2,3))
-
-from time import sleep # in case our DIO is too fast for the motor to keep up
-
-VERSION = "0.2"
-
-port_vals = [1, # binary ---1
- 5, # binary -1-1
- 4, # binary -1--
- 6, # binary -11-
- 2, # binary --1-
- 10, # binary 1-1-
- 8, # binary 1---
- 9] # binary 1--1
-
-class stepper_obj :
- def __init__(self) :
- self._curPos = 0 # Current stepper index
- self.fullStep = True # Select full or half stepping
- self.logic = False # Select active high (True) or active low (False)
- self.delay = 1e-5 # 10 us
- self._set_pos(0)
- self.setExternalStepPos = None
- def __del__(self) :
- pass
- def _get_output(self, position) :
- return port_vals[position % 8]
- def _set_pos(self, position) :
- write(self._get_output(position))
- def get_cur_pos(self) :
- return self._curPos
- def single_step(self, direction) :
- if self.fullStep and self._curPos % 2 == 1 :
- self._curPos -= 1 # round down to a full step
- if direction > 0 :
- if self.fullStep :
- self._curPos += 2
- else :
- self._curPos += 1
- if direction < 0 :
- if self.fullStep :
- self._curPos -= 2
- else :
- self._curPos -= 1
- write(self._get_output(self._curPos))
- if self.setExternalStepPos != None :
- self.setExternalStepPos(self.get_cur_pos())
- if self.delay > 0 :
- sleep(self.delay)
- def step_to(self, target_position) :
- if target_position != int(target_position) :
- str = "target_position must be an int: ", target_position
- raise Exception, str
- if self.fullStep and target_position%2 == 1 :
- target_position -= 1
- if target_position > self._curPos :
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+import logging as _logging
+import logging.handlers as _logging_handlers
+from time import sleep as _sleep
+
+
+__version__ = '0.3'
+
+
+LOG = _logging.getLogger('stepper')
+"Stepper logger"
+
+LOG.setLevel(_logging.WARN)
+_formatter = _logging.Formatter(
+ '%(asctime)s - %(name)s - %(levelname)s - %(message)s')
+
+_stream_handler = _logging.StreamHandler()
+_stream_handler.setLevel(_logging.DEBUG)
+_stream_handler.setFormatter(_formatter)
+LOG.addHandler(_stream_handler)
+
+
+def _binary(i, width=4):
+ """Convert `i` to a binary string of width `width`.
+
+ >>> _binary(0)
+ '0000'
+ >>> _binary(1)
+ '0001'
+ """
+ str = bin(i)[2:]
+ return '0'*(width-len(str)) + str
+
+
+class Stepper (object):
+ """Stepper motor control
+
+ inputs:
+
+ write (fn(value)) write the 4-bit integer `value` to
+ appropriate digital output channels.
+ full_step (boolean) select full or half stepping
+ logic (boolean) select active high (True) or active low (False)
+ delay (float) time delay between steps in seconds, in case the
+ motor response is slower than the drigital output
+ driver.
+ step_size (float) approximate step size in meters
+
+
+ >>> from pycomedi.device import Device
+ >>> from pycomedi.channel import DigitalChannel
+ >>> from pycomedi.constant import SUBDEVICE_TYPE, IO_DIRECTION
+
+ >>> device = Device('/dev/comedi0')
+ >>> device.open()
+
+ >>> subdevice = device.find_subdevice_by_type(SUBDEVICE_TYPE.dio)
+ >>> channels = [subdevice.channel(i, factory=DigitalChannel)
+ ... for i in (0, 1, 2, 3)]
+ >>> for chan in channels:
+ ... chan.dio_config(IO_DIRECTION.output)
+
+ >>> def write(value):
+ ... subdevice.dio_bitfield(bits=value, write_mask=2**4-1)
+
+ >>> s = Stepper(write=write)
+ >>> s.position
+ 0
+ >>> s.single_step(1)
+ >>> s.position
+ 2
+ >>> s.single_step(1)
+ >>> s.position
+ 4
+ >>> s.single_step(1)
+ >>> s.position
+ 6
+ >>> s.single_step(-1)
+ >>> s.position
+ 4
+ >>> s.single_step(-1)
+ >>> s.position
+ 2
+ >>> s.single_step(-1)
+ >>> s.position
+ 0
+ >>> s.full_step = False
+ >>> s.single_step(-1)
+ >>> s.position
+ -1
+ >>> s.single_step(-1)
+ >>> s.position
+ -2
+ >>> s.single_step(-1)
+ >>> s.position
+ -3
+ >>> s.single_step(1)
+ >>> s.position
+ -2
+ >>> s.single_step(1)
+ >>> s.position
+ -1
+ >>> s.single_step(1)
+ >>> s.position
+ 0
+ >>> s.step_to(1000)
+ >>> s.position
+ 1000
+ >>> s.step_to(-1000)
+ >>> s.position
+ -1000
+ >>> s.step_relative(1000)
+ >>> s.position
+ 0
+
+ >>> device.close()
+ """
+ def __init__(self, write, full_step=True, logic=True, delay=1e-5,
+ step_size=170e-9):
+ self._write = write
+ self.full_step = full_step
+ self.logic = logic
+ self.delay = delay
+ self.step_size = step_size
+ self.port_values = [1, # binary ---1 setup for logic == True
+ 5, # binary -1-1
+ 4, # binary -1--
+ 6, # binary -11-
+ 2, # binary --1-
+ 10, # binary 1-1-
+ 8, # binary 1---
+ 9] # binary 1--1
+ self._set_position(0)
+
+ def _get_output(self, position):
+ """Get the port value that places the stepper in `position`.
+
+ >>> s = Stepper(write=lambda value: value, logic=True)
+ >>> _binary(s._get_output(0))
+ '0001'
+ >>> _binary(s._get_output(1))
+ '0101'
+ >>> _binary(s._get_output(2))
+ '0100'
+ >>> _binary(s._get_output(-79))
+ '0101'
+ >>> _binary(s._get_output(81))
+ '0101'
+ >>> s.logic = False
+ >>> _binary(s._get_output(0))
+ '1110'
+ >>> _binary(s._get_output(1))
+ '1010'
+ >>> _binary(s._get_output(2))
+ '1011'
+ """
+ value = self.port_values[position % len(self.port_values)]
+ if not self.logic:
+ value = 2**4 - 1 - value
+ return value
+
+ def _set_position(self, position):
+ self.position = position # current stepper index in half steps
+ output = self._get_output(position)
+ LOG.debug('set postition to %d (%s)' % (position, _binary(output)))
+ self._write(output)
+
+ def single_step(self, direction):
+ LOG.debug('single step')
+ if self.full_step and self.position % 2 == 1:
+ self.position -= 1 # round down to a full step
+ if direction > 0:
+ step = 1
+ elif direction < 0:
+ step = -1
+ else:
+ raise ValueError(direction) # no step
+ if self.full_step:
+ step *= 2
+ self._set_position(self.position + step)
+ if self.delay > 0:
+ _sleep(self.delay)
+
+ def step_to(self, target_position):
+ if target_position != int(target_position):
+ raise ValueError(
+ 'target_position %s must be an int' % target_position)
+ if self.full_step and target_position % 2 == 1:
+ target_position -= 1 # round down to a full step
+ if target_position > self.position:
direction = 1
- else :
+ else:
direction = -1
- while self._curPos != target_position :
+ while self.position != target_position:
+ LOG.debug('stepping %s -> %s (%s)' % (target_position, self.position, direction))
self.single_step(direction)
- def step_rel(self, relative_target_position) :
- return self.step_to(self._curPos + relative_target_position)
-
-def test() :
- s = stepper_obj()
- s._get_output(0)
- s._get_output(-100)
- s._get_output(100)
- s.fullStep = True
- s.single_step(1)
- s.single_step(1)
- s.single_step(1)
- s.single_step(-1)
- s.single_step(-1)
- s.single_step(-1)
- s.fullStep = False
- s.single_step(-1)
- s.single_step(-1)
- s.single_step(-1)
- s.single_step(1)
- s.single_step(1)
- s.single_step(1)
- s.step_to(1000)
- s.step_to(-1000)
- s.step_to(0)
-
-if __name__ == "__main__" :
- test()
+
+ def step_relative(self, relative_target_position):
+ return self.step_to(self.position + relative_target_position)
projects / stepper.git / commitdiff