import PyTrinamic
" interfaces "
from PyTrinamic.modules.tmcl_module_interface import tmcl_module_interface
from PyTrinamic.modules.tmcl_motor_interface import tmcl_motor_interface
" features "
from PyTrinamic.modules.features.open_loop_ap_feature import open_loop_ap_feature
from PyTrinamic.modules.features.spi_encoder_ap_feature import spi_encoder_ap_feature
from PyTrinamic.modules.features.linear_ramp_ap_feature import linear_ramp_ap_feature
from PyTrinamic.modules.features.pid_ap_feature import pid_ap_feature
from PyTrinamic.modules.features.commutation_selection_ap_feature import commutation_selection_ap_feature
class TMCM_1670(tmcl_module_interface):
pub async fn __init__(&mut self, connection, moduleID=1) {
tmcl_module_interface.__init__(self, connection, moduleID)
self.GPs = _GPs
" add the motor with available features "
self._motors.append(TMCM_1670_motor_interface(self, 0, PyTrinamic.MotorTypes.BLDC, _AP_MOTOR_0, _ENUM_MOTOR_0))
def moduleName(self):
return "TMCM-1670"
def moduleDescription(self):
return "The TMCM-1670 is an easy to use and rather compact PANdrive™ smart BLDC motor. Supply voltage is 10-28V."
class _AP_MOTOR_0():
TargetPosition = 0
ActualPosition = 1
TargetVelocity = 2
ActualVelocity = 3
MaxVelocity = 4
TorqueLimit = 5
MaxTorque = 6
TargetReachedVelocity = 7
PositionReachedFlag = 8
MotorHaltedVelocity = 9
TargetReachedDistance = 10
Acceleration = 11
RampVelocity = 13
RampPosition = 14
RightStopSwitch = 20
LeftStopSwitch = 21
ReinitBldcRegulation = 31
BodeControlMode = 100
BodeTargetMode = 101
BodePlotMagnitude = 102
BodePlotPhi = 103
BodePlotSweepFrequency = 104
BodePlotSweepDataCount = 105
BodeTargetValue = 106
BodeActualValue = 107
PIDRegulationLoopDelay = 133
CurrentRegulationLoopDelay = 134
EnableRamp = 146
ActualTorque = 150
SupplyVoltage = 151
DriverTemperature = 152
TargetTorque = 155
StatusFlags = 156
CommutationMode = 159
ClearOnNull = 161
ClearOnce = 163
EncoderOffset = 165
ReferenceSwitchPolarity = 166
TorqueP = 172
TorqueI = 173
StartCurrent = 177
MainLoopsPerSecond = 180
PwmLoopsPerSecond = 181
TorqueLoopsPerSecond = 182
VelocityLoopsPerSecond = 183
DebugValue0 = 190
DebugValue1 = 191
DebugValue2 = 192
DebugValue3 = 193
DebugValue4 = 194
DebugValue5 = 195
DebugValue6 = 196
DebugValue7 = 197
DebugValue8 = 198
DebugValue9 = 199
CurrentPIDError = 200
CurrentPIDErrorSum = 201
FluxPIDError = 202
FluxPIDErrorSum = 203
ActualEncoderAngle = 211
ActualControlledAngle = 212
DriverDiagnosticValue = 214
DriverStatusAcknowledge = 215
DriverInitSPI = 216
DriverStatusRegister2 = 217
DriverStatusRegister3 = 218
DriverStatusRegister4 = 219
PositionPIDError = 226
VelocityPIDError = 228
VelocityPIDErrorSum = 229
PositionP = 230
VelocityP = 234
VelocityI = 235
VelocityFilter = 236
InitVelocity = 241
InitSineDelay = 244
EncoderInitMode = 249
EncoderSteps = 250
EncoderDirection = 251
MotorPoles = 253
DriverEnabled = 255
class _ENUM_MOTOR_0():
COMM_MODE_FOC_ENCODER = 7
COMM_MODE_FOC_CONTROLLED = 8
ENCODER_INIT_MODE_0 = 0
ENCODER_INIT_MODE_2 = 2
FLAG_POSITION_END = 0x00004000
pub enum _GP {
serialBaudRate = 65
serialAddress = 66
CANBitRate = 69
CANsendID = 70
CANreceiveID = 71
telegramPauseTime = 75
serialHostAddress = 76
autoStartMode = 77
applicationStatus = 128
programCounter = 130
tickTimer = 132
class TMCM_1670_motor_interface(tmcl_motor_interface):
pub async fn __init__(&mut self, parent, axisID, motorType, axisParameter, constants) {
tmcl_motor_interface.__init__(self, parent, axisID, motorType, axisParameter, constants)
" add features "
self.openLoop = open_loop_ap_feature(self)
self.feature.update({"open_loop" : self.openLoop})
self.spiEncoder = spi_encoder_ap_feature(self)
self.feature.update({"spi_encoder" : self.spiEncoder})
self.linearRamp = linear_ramp_ap_feature(self)
self.feature.update({"linear_ramp" : self.linearRamp})
self.pid = pid_ap_feature(self)
self.feature.update({"pid" : self.pid})
self.commutationSelection = commutation_selection_ap_feature(self)
self.feature.update({"commutation_selection" : self.commutationSelection})
" motor type (BLDC only) "
pub async fn setMotorType(&mut self, motorType) {
pass
def motorType(self):
return PyTrinamic.MotorTypes.BLDC
" motor pole pairs "
pub async fn setMotorPolePairs(&mut self, polePairs) {
self.setAxisParameter(self.AP.MotorPoles, polePairs*2)
def motorPolePairs(self):
return int(self.axisParameter(self.AP.MotorPoles)/2)