created v0.3 functional software prototype

2024-07-20 09:46:59 +02:00
parent b2597a60c7
commit fafa874b43
15 changed files with 377 additions and 0 deletions
--- a/Software/motion.py
+++ b/Software/motion.py
@@ -0,0 +1,30 @@
+from TMC2130 import TMC2130_Rotate
+from config import *
+
+steps_mm = 0
+
+def Motion_Init():
+    global steps_mm
+    
+    steps_mm = (MOTOR_STEPS * MICROSTEPPING) / SCREW_PITCH
+    
+def Motion_Move(distance, speed): #distance in mm, speed in mm/min
+    global steps_mm
+    
+    steps = steps_mm * abs(distance)
+    
+    direction = 0
+    if distance < 0:
+        if AXIS_REVERSE == False:
+            direction = 0
+        else:
+            direction = 1
+    else:
+        if AXIS_REVERSE == False:
+            direction = 1
+        else:
+            direction = 0
+            
+    rpm = speed / SCREW_PITCH
+    
+    TMC2130_Rotate(direction, steps, rpm)