30 lines
651 B
Python
30 lines
651 B
Python
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) |