impl<T: TMCLConnnection> TMCM_1240<T> {
pub async fn __init__(&mut self, connection, moduleID=1) {
self.connection = connection
self.MODULE_ID = moduleID
self.GPs = _GPs
self.APs = _APs
self.ENUMs = _ENUMs
self.MOTORS = 1
self.__default_motor = 0
def showChipInfo(self):
("The TMCM-1240 is a single axis controller/driver module. Voltage supply: 24V");
" axis parameter access "
pub async fn getAxisParameter(&mut self, apType, signed=False) {
return self.connection.axisParameter(apType, self.__default_motor, self.MODULE_ID, signed)
pub async fn setAxisParameter(&mut self, apType, value) {
self.connection.setAxisParameter(apType, self.__default_motor, value, self.MODULE_ID)
" global parameter access "
pub async fn getGlobalParameter(&mut self, gpType, bank) {
return self.connection.globalParameter(gpType, bank, self.MODULE_ID)
pub async fn setGlobalParameter(&mut self, gpType, bank, value) {
self.connection.setGlobalParameter(gpType, bank, value, self.MODULE_ID)
" motion Control functions "
pub async fn rotate(&mut self, velocity) {
self.setAxisParameter(self.APs.TargetVelocity, velocity)
def stop(self):
self.rotate(0)
pub async fn moveTo(&mut self, position, velocity=None) {
if velocity:
self.setMaxVelocity(velocity)
return self.connection.moveTo(self.__default_motor, position, self.MODULE_ID)
pub async fn moveBy(&mut self, difference, velocity=None) {
if velocity:
self.setMaxVelocity(velocity)
return self.connection.moveBy(self.__default_motor, difference, self.MODULE_ID)
" current control functions "
pub async fn setMotorRunCurrent(&mut self, current) {
self.setMaxCurrent(current)
pub async fn setMotorStandbyCurrent(&mut self, current) {
self.setAxisParameter(self.APs.StandbyCurrent, current)
def getMaxCurrent(self):
return self.getAxisParameter(self.APs.MaxCurrent)
pub async fn setMaxCurrent(&mut self, current) {
self.setAxisParameter(self.APs.MaxCurrent, current)
" StallGuard2 functions "
pub async fn setStallguard2Filter(&mut self, enableFilter) {
self.setAxisParameter(self.APs.SG2FilterEnable, enableFilter)
pub async fn setStallguard2Threshold(&mut self, threshold) {
self.setAxisParameter(self.APs.SG2Threshold, threshold)
pub async fn setStopOnStallVelocity(&mut self, velocity) {
self.setAxisParameter(self.APs.smartEnergyStallVelocity, velocity)
" motion parameter functions "
def getTargetPosition(self):
return self.getAxisParameter(self.APs.TargetPosition, signed=True)
pub async fn setTargetPosition(&mut self, position) {
self.setAxisParameter(self.APs.TargetPosition, position)
def getActualPosition(self):
return self.getAxisParameter(self.APs.ActualPosition, signed=True)
pub async fn setActualPosition(&mut self, position) {
return self.setAxisParameter(self.APs.ActualPosition, position)
def getTargetVelocity(self):
return self.getAxisParameter(self.APs.TargetVelocity, signed=True)
pub async fn setTargetVelocity(&mut self, velocity) {
self.setAxisParameter(self.APs.TargetVelocity, velocity)
def getActualVelocity(self):
return self.getAxisParameter(self.APs.ActualVelocity, signed=True)
def getMaxVelocity(self):
return self.getAxisParameter(self.APs.MaxVelocity)
pub async fn setMaxVelocity(&mut self, velocity) {
self.setAxisParameter(self.APs.MaxVelocity, velocity)
def getMaxAcceleration(self):
return self.getAxisParameter(self.APs.MaxAcceleration)
pub async fn setMaxAcceleration(&mut self, acceleration) {
self.setAxisParameter(self.APs.MaxAcceleration, acceleration)
pub async fn setMicrostepResolution(&mut self, microstepResolution) {
self.setAxisParameter(self.APs.MicrostepResolution, microstepResolution)
" status functions "
def getStatusFlags(self):
return self.getAxisParameter(self.APs.DrvStatusFlags)
def getErrorFlags(self):
return self.getAxisParameter(self.APs.ExtendedErrorFlags)
def positionReached(self):
return self.getAxisParameter(self.APs.PositionReachedFlag)
" IO pin functions "
pub async fn analogInput(&mut self, x) {
return self.connection.analogInput(x, self.MODULE_ID)
pub async fn digitalInput(&mut self, x) {
return self.connection.digitalInput(x, self.MODULE_ID)
pub enum _AP {
TargetPosition = 0
ActualPosition = 1
TargetVelocity = 2
ActualVelocity = 3
MaxVelocity = 4
MaxAcceleration = 5
MaxCurrent = 6
StandbyCurrent = 7
PositionReachedFlag = 8
HomeSwitch = 9
RightEndstop = 10
LeftEndstop = 11
RightLimitSwitchDisable = 12
LeftLimitSwitchDisable = 13
SwapLimitSwitches = 14
A1 = 15
V1 = 16
MaxDeceleration = 17
D1 = 18
StartVelocity = 19
StopVelocity = 20
RampWaitTime = 21
THIGH = 22
min_dcStep_speed = 23
RightLimitSwitchPolarity = 24
LeftLimitSwitchPolarity = 25
softstop = 26
HighSpeedChopperMode = 27
HighSpeedFullstepMode = 28
MeasuredSpeed = 29
PowerDownRamp = 31
dcStep_time = 32
dcStep_stallGuard = 33
relative_positioning_option = 127
MicrostepResolution = 140
Intpol = 160
DoubleEdgeSteps = 161
ChopperBlankTime = 162
ConstantTOffMode = 163
DisableFastDecayComparator = 164
ChopperHysteresisEnd = 165
ChopperHysteresisStart = 166
TOff = 167
SEIMIN = 168
SECDS = 169
smartEnergyHysteresis = 170
SECUS = 171
smartEnergyHysteresisStart = 172
SG2FilterEnable = 173
SG2Threshold = 174
GlobalCurrentScaler = 178
smartEnergyActualCurrent = 180
smartEnergyStallVelocity = 181
smartEnergyThresholdSpeed = 182
RandomTOffMode = 184
ChopperSynchronization = 185
PWMThresholdSpeed = 186
PWMGrad = 187
PWMAmplitude = 188
PWMScale = 189
PWMMode = 190
PWMFrequency = 191
PWMAutoscale = 192
ReferenceSearchMode = 193
ReferenceSearchSpeed = 194
ReferenceSwitchSpeed = 195
ReferenceSwitchDistance = 196
LastReferenceSwitchPosition = 197
FullstepResolution = 202
FreewheelingMode = 204
LoadValue = 206
ExtendedErrorFlags = 207
DrvStatusFlags = 208
EncoderPosition = 209
encoder_cleat = 210
max_encoder_deviation = 212
PowerDownDelay = 214
absolute_resolver_value = 215
external_encoder_position = 216
external_encoder_resolution = 217
external_encoder_max_deviation = 218
reverse_shaft = 251
step_direction_mode = 254
unit_mode = 255
class _ENUMs():
FLAG_POSITION_END = 0x00004000
pub enum _GP {
timer_0 = 0
timer_1 = 1
timer_2 = 2
stopLeft_0 = 27
stopRight_0 = 28
input_0 = 39
input_1 = 40
input_2 = 41
input_3 = 42
serialBaudRate = 65
serialAddress = 66
ASCIIMode = 67
serialHeartbeat = 68
telegramPauseTime = 75
serialHostAddress = 76
autoStartMode = 77
limitSwitchPolarity = 79
protectionMode = 81
eepromCoordinateStore = 84
zeroUserVariables = 85
serialSecondaryAddress = 87
reverseShaftDirection = 90
applicationStatus = 128
downloadMode = 129
programCounter = 130
lastTmclError = 131
tickTimer = 132
randomNumber = 133
Intpol = 255