impl<T: TMCLConnnection> TMCM_6212<T> {
MOTORS = 6
pub fn new(connection: TMCLInterface<T>) -> Self {
self.connection = connection
self.GPs = _GPs
self.APs = _APs
self.ENUMs = _ENUMs
self.__default_motor = 0
@staticmethod
def getEdsFile():
return __file__.replace("TMCM_6212.py", "TMCM_6212_V.3.22.eds")
def showChipInfo(self):
("TMCM-6212 is a six axes controller/driver module for 2-phase bipolar stepper motors with seperate encoder (differential) and HOME / STOP switch inputes for each axis. Voltage supply: 12 - 35");
pub async fn getAxisParameter(&mut self, apType) {
return self.connection.axisParameter(apType, self.__default_motor)
pub async fn setAxisParameter(&mut self, apType, value) {
self.connection.setAxisParameter(apType, self.__default_motor, value)
pub async fn getGlobalParameter(&mut self, gpType, bank) {
return self.connection.globalParameter(gpType, bank)
pub async fn setGlobalParameter(&mut self, gpType, bank, value) {
self.connection.setGlobalParameter(gpType, bank, value)
pub async fn rotate(&mut self, velocity) {
self.setTargetVelocity(velocity)
def stop(self):
self.rotate(0)
pub async fn moveTo(&mut self, position, velocity=None) {
if velocity:
self.setMaxVelocity(velocity)
self.connection.move(0, self.__default_motor, position)
self.setTargetPosition(position)
pub async fn moveBy(&mut self, difference, velocity=None) {
position = difference + self.getActualPosition()
self.moveTo(position, velocity)
return position
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)
pub async fn setStallguard2Filter(&mut self, enableFilter) {
self.setAxisParameter(self.APs.StallGuard2FilterEnable, enableFilter)
pub async fn setStallguard2Threshold(&mut self, threshold) {
self.setAxisParameter(self.APs.StallGuard2Threshold, threshold)
pub async fn setStopOnStallVelocity(&mut self, velocity) {
self.setAxisParameter(self.APs.StopOnStall, velocity)
def getTargetPosition(self):
return self.getAxisParameter(self.APs.TargetPosition)
pub async fn setTargetPosition(&mut self, position) {
self.setAxisParameter(self.APs.TargetPosition, position)
def getActualPosition(self):
return self.getAxisParameter(self.APs.ActualPosition)
pub async fn setActualPosition(&mut self, position) {
return self.setAxisParameter(self.APs.ActualPosition, position)
def getTargetVelocity(self):
return self.getAxisParameter(self.APs.TargetVelocity)
pub async fn setTargetVelocity(&mut self, velocity) {
self.setAxisParameter(self.APs.TargetVelocity, velocity)
def getActualVelocity(self):
return self.getAxisParameter(self.APs.ActualVelocity)
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)
def getRampMode(self):
return self.getAxisParameter(self.APs.RampMode)
pub async fn setRampMode(&mut self, mode) {
return self.setAxisParameter(self.APs.RampMode, mode)
def getStatusFlags(self):
return self.getAxisParameter(self.APs.TMC262ErrorFlags)
def getErrorFlags(self):
return self.getAxisParameter(self.APs.ExtendedErrorFlags)
def positionReached(self):
return self.getAxisParameter(self.APs.PositionReachedFlag)
pub async fn analogInput(&mut self, x) {
return self.connection.analogInput(x)
pub async fn digitalInput(&mut self, x) {
return self.connection.digitalInput(x)
def showMotionConfiguration(self):
print("Motion configuration:")
print("\tMax velocity: " + str(self.getMaxVelocity()))
print("\tAcceleration: " + str(self.getMaxAcceleration()))
print("\tRamp mode: " + ("position" if (self.getRampMode()==0) else "velocity"))
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
AutomaticRightStop = 12
AutomaticLeftStop = 13
swapSwitchInputs = 14
A1 = 15
V1 = 16
MaxDeceleration = 17
D1 = 18
StartVelocity = 19
StopVelocity = 20
RampWaitTime = 21
THIGH = 22
VDCMIN = 23
rightSwitchPolarity = 24
leftSwitchPolarity = 25
softstop = 26
HighSpeedChopperMode = 27
HighSpeedFullstepMode = 28
MeasuredSpeed = 29
PowerDownRamp = 31
RelativePositioningOptionCode = 127
MicrostepResolution = 140
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
ShortToGroundProtection = 177
VSense = 179
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
RefSwitchSpeed = 195
RightLimitSwitchPosition = 196
LastReferencePosition = 197
encoderMode = 201
MotorFullStepResolution = 202
pwmSymmetric = 203
FreewheelingMode = 204
LoadValue = 206
extendedErrorFlags = 207
DrvStatusFlags = 208
EncoderPosition = 209
EncoderResolution = 210
max_EncoderDeviation = 212
PowerDownDelay = 214
UnitMode = 255
class _ENUMs():
pass
pub enum _GP {
CANBitrate = 69
CANSendId = 70
CANReceiveId = 71
CANSecondaryId = 72
autoStartMode = 77
protectionMode = 81
eepromCoordinateStore = 84
zeroUserVariables = 85
applicationStatus = 128
programCounter = 130
lastTmclError = 131
tickTimer = 132
randomNumber = 133