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demo_script_02_pin_connection.py
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demo_script_02_pin_connection.py
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#pylint: disable=wildcard-import
#pylint: disable=unused-wildcard-import
#pylint: disable=unused-import
#pylint: disable=duplicate-code
"""
test file for testing the STEP, DIR, EN connection
"""
import time
try:
from src.TMC_2209.TMC_2209_StepperDriver import *
from src.TMC_2209._TMC_2209_GPIO_board import Board
except ModuleNotFoundError:
from TMC_2209.TMC_2209_StepperDriver import *
from TMC_2209._TMC_2209_GPIO_board import Board
print("---")
print("SCRIPT START")
print("---")
#-----------------------------------------------------------------------
# initiate the TMC_2209 class
# use your pins for pin_en, pin_step, pin_dir here
#-----------------------------------------------------------------------
if BOARD == Board.RASPBERRY_PI:
tmc = TMC_2209(21, 16, 20)
elif BOARD == Board.RASPBERRY_PI5:
tmc = TMC_2209(21, 16, 20, serialport="/dev/ttyAMA0")
elif BOARD == Board.NVIDIA_JETSON:
tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1")
else:
# just in case
tmc = TMC_2209(21, 16, 20)
#-----------------------------------------------------------------------
# set the loglevel of the libary (currently only printed)
# set whether the movement should be relative or absolute
# both optional
#-----------------------------------------------------------------------
tmc.tmc_logger.set_loglevel(Loglevel.DEBUG)
tmc.set_movement_abs_rel(MovementAbsRel.ABSOLUTE)
#-----------------------------------------------------------------------
# these functions change settings in the TMC register
#-----------------------------------------------------------------------
tmc.set_direction_reg(False)
tmc.set_current(300)
tmc.set_interpolation(True)
tmc.set_spreadcycle(False)
tmc.set_microstepping_resolution(2)
tmc.set_internal_rsense(False)
print("---\n---")
#-----------------------------------------------------------------------
# this function test whether the connection of the DIR, STEP and EN pin
# between Raspberry Pi and TMC driver is working
#-----------------------------------------------------------------------
tmc.test_dir_step_en()
print("---\n---")
#-----------------------------------------------------------------------
# deactivate the motor current output
#-----------------------------------------------------------------------
tmc.set_motor_enabled(False)
print("---\n---")
#-----------------------------------------------------------------------
# deinitiate the TMC_2209 class
#-----------------------------------------------------------------------
del tmc
print("---")
print("SCRIPT FINISHED")
print("---")