From: W. Trevor King Date: Thu, 31 Mar 2011 19:51:08 +0000 (-0400) Subject: Cleanup stepper, use pure distutils, and bump to v0.3 X-Git-Tag: v0.3^0 X-Git-Url: http://git.tremily.us/?a=commitdiff_plain;h=5bd4b4a44f7acdcbc3f9a5c0c454f889ff92d5f5;p=stepper.git Cleanup stepper, use pure distutils, and bump to v0.3 --- diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..0d20b64 --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +*.pyc diff --git a/COPYING b/COPYING new file mode 100644 index 0000000..94a9ed0 --- /dev/null +++ b/COPYING @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If not, see . + +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: + + Copyright (C) + 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 +. + + 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 +. diff --git a/MANIFEST.in b/MANIFEST.in new file mode 100644 index 0000000..eb762f3 --- /dev/null +++ b/MANIFEST.in @@ -0,0 +1 @@ +include COPYING diff --git a/README b/README index 4880358..fbc6871 100644 --- a/README +++ b/README @@ -1,55 +1,100 @@ This package provides Python control of stepper motors. See Jones' -"Control of Stepping Motors" for an excellent stepper overview. - http://www.cs.uiowa.edu/~jones/step/ +`Control of Stepping Motors`_ for an excellent stepper overview. Supports full and half stepping of motors with one or two power lines -and 4 drains, or one or two drains and 4 power lines... Basically any +and 4 drains, or one or two drains and 4 power lines. Basically any motor with 4 variable lines, and it would be easy to extend it to other cases. -== Installation == -Non-Python dependencies (Debian packagename): - easy_install (python-setuptools) +Installation +============ -Stepper uses `setuptools' for installation. Setuptools is basically -an extension of the standard Python distutils package which supports -automatic package dependency tracking. The installation procedure -should be (on Debian-esque systems) - # apt-get intall python-setuptools python-numpy-dev - # easy_install -f http://www.physics.drexel.edu/~wking/code/python/ stepper +Packages +-------- -There is one speedbump you might run into: - * an outdated version of easy_install (see ez_setup.py section) +Gentoo +~~~~~~ -** ez_setup.py +I've packaged stepper for Gentoo. You need layman_ and my `wtk +overlay`_. Install with:: -This package bundles - http://peak.telecommunity.com/dist/ez_setup.py -to bootstrap setuputils installation on your machine (if neccessary). + # emerge -av app-portage/layman + # layman --add wtk + # emerge -av sci-libs/stepper -If the bootstrapping doesn't work, you may need to install a current version -of setuptools. On Debian-based systems `apt-get install python-setuptools'. -Once you have *some* version of setuptools, upgrade with - easy_install -U setuptools -For more information see - http://peak.telecommunity.com/DevCenter/EasyInstall - http://peak.telecommunity.com/DevCenter/setuptools#what-your-users-should-know +Dependencies +------------ +Stepper has no explicit dependencies outside of the core Python +modules, but for real-world results you will need a way to drive the +stepper's digital control lines. A general way to do this is with the +pycomedi wrapper around the Comedilib_ library, as shown in the +Stepper doctest. -== Usage == +You will also need nose for testing. -See the tests in FFT_tools.py for simple examples. +=========== ================= ===================== +Package Debian_ Gentoo_ +=========== ================= ===================== +Nose_ python-nose dev-python/nose +Pycomedi_ dev-python/pycomedi +=========== ================= ===================== -== Licence == +Installing by hand +------------------ -This project is distributed under the BSD License. - http://www.fsf.org/licensing/licenses/#ModifiedBSD +Stepper is available as a Git_ repository:: + $ git clone http://www.physics.drexel.edu/~wking/code/git/stepper.git -== Author == +See the homepage_ for details. To install the checkout, run the +standard:: + + $ python setup.py install + + +Usage +===== + +See the module docstrings for simple examples. + + +Testing +======= + +Run internal unit tests with:: + + $ nosetests --with-doctest --doctest-tests stepper.py + + +Licence +======= + +This project is distributed under the `GNU General Public License +Version 3`_ or greater. + + +Author +====== W. Trevor King wking@drexel.edu -Copyright 2008, 2009 +Copyright 2008-2011 + + +.. _Control of Stepping Motors: http://www.cs.uiowa.edu/~jones/step/ +.. _layman: http://layman.sourceforge.net/ +.. _wtk overlay: + http://www.physics.drexel.edu/~wking/unfolding-disasters/posts/Gentoo_overlay +.. _Debian: http://www.debian.org/ +.. _Gentoo: http://www.gentoo.org/ +.. _Comedilib: http://www.comedi.org/ +.. _Nose: http://somethingaboutorange.com/mrl/projects/nose/ +.. _Pycomedi: + http://www.physics.drexel.edu/~wking/unfolding-disasters/posts/pycomedi/ +.. _Git: http://git-scm.com/ +.. _homepage: + http://www.physics.drexel.edu/~wking/unfolding-disasters/posts/stepper/ +.. _GNU General Public License Version 3: http://www.gnu.org/licenses/gpl.txt diff --git a/ez_setup.py b/ez_setup.py deleted file mode 100644 index 14cd450..0000000 --- a/ez_setup.py +++ /dev/null @@ -1,275 +0,0 @@ -#!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:]) - - - - - - diff --git a/setup.py b/setup.py index 318dfb2..8a2c6ef 100644 --- a/setup.py +++ b/setup.py @@ -1,59 +1,35 @@ -"""Stepper: Python control of stepper motors. +"Python control of stepper motors." + +from distutils.core import setup +import os.path + +from stepper import __version__ -Requires - * PyComedi () -""" classifiers = """\ Development Status :: 2 - Pre-Alpha Intended Audience :: Developers Intended Audience :: Science/Research -Operating System :: POSIX -Operating System :: Unix -License :: OSI Approved :: BSD License +Operating System :: OS Independent +License :: OSI Approved :: GNU General Public License (GPL) Programming Language :: Python Topic :: Scientific/Engineering Topic :: Software Development :: Libraries :: Python Modules """ -# http://peak.telecommunity.com/DevCenter/setuptools#using-setuptools-without-bundling-it -import ez_setup -ez_setup.use_setuptools() - -from setuptools import setup, find_packages - -# patch distutils if it can't cope with the "classifiers" or -# "download_url" keywords -from sys import version -if version < '2.2.3': - from distutils.dist import DistributionMetadata - DistributionMetadata.classifiers = None - DistributionMetadata.download_url = None - -#from stepper import VERSION -VERSION = "0.2" # can't import VERSION without also importing comedi. - -doclines = __doc__.split("\n") - -setup(name="stepper", - version=VERSION, - maintainer="W. Trevor King", - maintainer_email="wking@drexel.edu", - url = "http://www.physics.drexel.edu/~wking/code/python/", - download_url = "http://www.physics.drexel.edu/~wking/code/python/stepper-%s.tar.gz" % (VERSION), - license = "BSD", - platforms = ["all"], - description = doclines[0], - long_description = "\n".join(doclines[2:]), - classifiers = filter(None, classifiers.split("\n")), - py_modules = ['stepper', 'ez_setup'], - #packages = find_packages(), - install_requires = "pycomedi >= 0.2", +_this_dir = os.path.dirname(__file__) + +setup(name='stepper', + version=__version__, + maintainer='W. Trevor King', + maintainer_email='wking@drexel.edu', + url = 'http://www.physics.drexel.edu/~wking/unfolding-disasters/stepper/', + download_url = 'http://www.physics.drexel.edu/~wking/code/python/stepper-%s.tar.gz' % __version__, + license = 'GNU General Public License (GPL)', + platforms = ['all'], + description = __doc__.split('\n', 1)[0], + long_description = open(os.path.join(_this_dir, 'README'), 'r').read(), + classifiers = filter(None, classifiers.split('\n')), + py_modules = ['stepper'], + provides=['stepper'], ) - -# use packages to include subdirectory packages -# use py_modules to include single-module packages -# use ext_modules to include extension modules -# see -# http://www.python.org/doc/2.5.2/dist/listing-modules.html -# http://www.python.org/doc/2.5.2/dist/describing-extensions.html diff --git a/stepper.py b/stepper.py index 203b202..10fa94c 100644 --- a/stepper.py +++ b/stepper.py @@ -1,126 +1,215 @@ -#!/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 . + +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)