maix.ext_dev.tmc2209 module

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Module

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Enum

Variable

Function

slide_scan

def slide_scan(port: str, addr: int, baud: int, step_angle: float, micro_step: int, round_mm: float, speed_mm_s: float, dir: bool = True, use_internal_sense_resistors: bool = True, run_current_per: int = 100, hold_current_per: int = 100, conf_save_path: str = './slide_conf.bin', force_update: bool = True) -> None

Scan and initialize the slide with the given parameters

item

description

param

port: UART port, string type. addr: TMC2209 UART address, range 0x00~0x03, integer type. baud: UART baud rate, integer type. step_angle: Motor step angle, float type. micro_step: Motor micro step, options: 1/2/4/8/16/32/64/128/256, integer type. round_mm: Round distance in mm, float type. speed_mm_s: Speed of the slide in mm/s, float type. dir: Direction of movement, boolean type. Default is true. use_internal_sense_resistors: Enable internal sense resistors if true, disable if false, boolean type. Default is true. run_current_per: Motor run current percentage, range 0~100(%), integer type. Default is 100%. hold_current_per: Motor hold current percentage, range 0~100(%), integer type. Default is 100%. conf_save_path: Configuration save path, string type. Default is "./slide_conf.bin". force_update: Force update the configuration if true, boolean type. Default is true.

C++ defination code:

void slide_scan(const char* port, uint8_t addr, long baud, /* Uart init param */
                float step_angle, uint16_t micro_step, float round_mm, /* Motor init param */
                float speed_mm_s, bool dir=true, bool use_internal_sense_resistors=true, uint8_t run_current_per=100,
                uint8_t hold_current_per=100, const std::string conf_save_path="./slide_conf.bin",
                bool force_update=true  /* Driver init param */)

slide_test

def slide_test(port: str, addr: int, baud: int, step_angle: float, micro_step: int, round_mm: float, speed_mm_s: float, dir: bool = True, use_internal_sense_resistors: bool = True, run_current_per: int = 100, hold_current_per: int = 100, conf_save_path: str = './slide_conf.bin') -> None

Test the slide with the given parameters\nThis function tests the slide by moving it in the specified direction until a stall condition is detected, as defined in the configuration file.

item

description

param

port: UART port, string type. addr: TMC2209 UART address, range 0x00~0x03, integer type. baud: UART baud rate, integer type. step_angle: Motor step angle, float type. micro_step: Motor micro step, options: 1/2/4/8/16/32/64/128/256, integer type. round_mm: Round distance in mm, float type. speed_mm_s: Speed of the slide in mm/s, float type. dir: Direction of movement, boolean type. Default is true. use_internal_sense_resistors: Enable internal sense resistors if true, disable if false, boolean type. Default is true. run_current_per: Motor run current percentage, range 0~100(%), integer type. Default is 100%. hold_current_per: Motor hold current percentage, range 0~100(%), integer type. Default is 100%. conf_save_path: Configuration save path, string type. Default is "./slide_conf.bin".

C++ defination code:

void slide_test(const char* port, uint8_t addr, long baud, /* Uart init param */
                float step_angle, uint16_t micro_step, float round_mm, /* Motor init param */
                float speed_mm_s, bool dir=true, bool use_internal_sense_resistors=true, uint8_t run_current_per=100,
                uint8_t hold_current_per=100, const std::string conf_save_path="./slide_conf.bin"/* Driver init param */)

Class

Slide

Slide Class

C++ defination code:

class Slide

__init__

def __init__(self, port: str, addr: int, baud: int, step_angle: float, micro_step: int, round_mm: float, speed_mm_s: float = -1, use_internal_sense_resistors: bool = True, run_current_per: int = 100, hold_current_per: int = 100, cfg_file_path: str = '') -> None

Constructor for Slide\nInitializes the Slide object with the specified parameters.

item	description
type	func
param	port: UART port, string type. addr: TMC2209 UART address, range 0x00~0x03, integer type. baud: UART baud rate, integer type. step_angle: Motor step angle, float type. micro_step: Motor micro step, options: 1/2/4/8/16/32/64/128/256, integer type. round_mm: Round distance in mm, float type. speed_mm_s: Speed of the slide in mm/s, float type. Default is -1, indicating the use of a default speed factor. use_internal_sense_resistors: Enable internal sense resistors if TRUE, disable if FALSE, boolean type. Default is TRUE. run_current_per: Motor run current percentage, range 0~100(%), integer type. Default is 100%. hold_current_per: Motor hold current percentage, range 0~100(%), integer type. Default is 100%. cfg_file_path: Configuration file path, string type. Default is an empty string, indicating no configuration file.
static	False

C++ defination code:

Slide(const char* port, uint8_t addr, long baud, /* Uart init param */
            float step_angle, uint16_t micro_step, float round_mm,   /* Motor init param */
            float speed_mm_s=-1, bool use_internal_sense_resistors=true, uint8_t run_current_per=100,
            uint8_t hold_current_per=100, std::string cfg_file_path="" /* Driver init param */)

load_conf

def load_conf(self, path: str) -> None

Load configuration from a file\nLoads the configuration settings for the slide from the specified file path.

item	description
type	func
param	path: Path to the configuration file, string type.
static	False

C++ defination code:

void load_conf(std::string path)

move

def move(self, oft: float, speed_mm_s: int = -1, check: bool = True) -> None

Move the slide by a specified length\nMoves the slide by the specified length at the given speed. Optionally checks for stall conditions.

item	description
type	func
param	oft: Length to move, float type. speed_mm_s: Speed in mm/s. Default is -1, indicating the use of the default speed set during initialization. check: Enable movement check if true, boolean type. Default is true.
static	False

C++ defination code:

void move(float oft, int speed_mm_s=-1, bool check=true)

reset

def reset(self, dir: bool = False, speed_mm_s: int = -1) -> None

Reset the slide position\nResets the slide position in the specified direction at the given speed.

item	description
type	func
param	dir: Direction of reset, boolean type. Default is false. speed_mm_s: Speed in mm/s. Default is -1, indicating the use of the speed set during initialization.
static	False

C++ defination code:

void reset(bool dir=false, int speed_mm_s=-1)

stop_default_per

Get or set the stop default percentage\nRetrieves or sets the stop default percentage. If the parameter is -1, it returns the current setting.

item	description
type	func
param	per: Stop default percentage, range 0~100(%), integer type. Default is -1, indicating no change.
return	int Current stop default percentage if per is -1, otherwise the new set percentage.
static	False

C++ defination code:

int stop_default_per(int per=-1)

run_current_per

def run_current_per(self, per: int = -1) -> int

Get or set the run current percentage\nRetrieves or sets the run current percentage. If the parameter is -1, it returns the current setting.

item	description
type	func
param	per: Run current percentage, range 0~100(%), integer type. Default is -1, indicating no change.
return	int Current run current percentage if per is -1, otherwise the new set percentage.
static	False

C++ defination code:

int run_current_per(int per=-1)

hold_current_per

def hold_current_per(self, per: int = -1) -> int

Get or set the hold current percentage\nRetrieves or sets the hold current percentage. If the parameter is -1, it returns the current setting.

item	description
type	func
param	per: Hold current percentage, range 0~100(%), integer type. Default is -1, indicating no change.
return	int Current hold current percentage if per is -1, otherwise the new set percentage.
static	False

C++ defination code:

int hold_current_per(int per=-1)

use_internal_sense_resistors

def use_internal_sense_resistors(self, b: bool = True) -> None

Enable or disable internal sense resistors\nEnables or disables the internal sense resistors based on the provided boolean value.

item	description
type	func
param	b: Boolean value to enable (true) or disable (false) internal sense resistors. Default is true.
static	False

C++ defination code:

void use_internal_sense_resistors(bool b=true)

ScrewSlide

ScrewSlide Class

C++ defination code:

class ScrewSlide

__init__

def __init__(self, port: str, addr: int, baud: int, step_angle: float, micro_step: int, screw_pitch: float, speed_mm_s: float = -1, use_internal_sense_resistors: bool = True, run_current_per: int = 100, hold_current_per: int = 100) -> None

Constructor for ScrewSlide

item	description
type	func
param	port: UART port, string type. addr: TMC2209 UART address, range 0x00~0x03, integer type. baud: UART baud rate, integer type. step_angle: Motor step angle, float type. micro_step: Motor micro step, options: 1/2/4/8/16/32/64/128/256, integer type. screw_pitch: Screw pitch of the slide, integer type. speed_mm_s: Speed of the slide in mm/s, 10 means 10mm/s, float type. Default is -1, indicating the use of a default speed factor. use_internal_sense_resistors: Enable internal sense resistors if TRUE, disable if FALSE, boolean type. Default is TRUE. run_current_per: Motor run current percentage, range 0~100(%), integer type. Default is 100%. hold_current_per: Motor hold current percentage, range 0~100(%), integer type. Default is 100%.
static	False

C++ defination code:

ScrewSlide(const char* port, uint8_t addr, long baud, /* Uart init param */
                float step_angle, uint16_t micro_step, float screw_pitch,   /* Motor init param */
                float speed_mm_s=-1, bool use_internal_sense_resistors=true, uint8_t run_current_per=100,
                uint8_t hold_current_per=100)

move

def move(self, oft: float, speed_mm_s: int = -1, callback: typing.Callable[[float], bool] = None) -> None

Move the slide by a specified length

item	description
type	func
param	oft: Length to move, 10 means 10mm, float type. Positive values move the slide in the positive direction, negative values move it in the opposite direction. speed_mm_s: Speed in mm/s. Default is -1, indicating the use of the default speed set during initialization. callback: Callback function to be called during movement. The callback function receives the current progress percentage (0~100%) of the movement. If the callback returns true, the move operation will be terminated immediately. Default is nullptr.
static	False

C++ defination code:

void move(float oft, int speed_mm_s=-1, std::function<bool(float)> callback=nullptr)

reset

def reset(self, callback: typing.Callable[[], bool], dir: bool = False, speed_mm_s: int = -1) -> None

Reset the slide position

item	description
type	func
param	callback: Callback function to be called during the reset loop. The reset operation will only terminate if the callback returns true. dir: Direction of reset. Default is false. speed_mm_s: Speed in mm/s. Default is -1, indicating the use of the speed set during initialization.
static	False

C++ defination code:

void reset(std::function<bool(void)> callback, bool dir=false, int speed_mm_s=-1)

run_current_per

def run_current_per(self, per: int = -1) -> int

Get or set the run current percentage

item	description
type	func
param	per: Run current percentage, range 0~100(%). Default is -1, indicating no change and returning the current run current percentage.
return	int Current run current percentage if per is -1, otherwise the new set percentage.
static	False

C++ defination code:

int run_current_per(int per=-1)

hold_current_per

def hold_current_per(self, per: int = -1) -> int

Get or set the hold current percentage

item	description
type	func
param	per: Hold current percentage, range 0~100(%). Default is -1, indicating no change and returning the current hold current percentage.
return	int Current hold current percentage if per is -1, otherwise the new set percentage.
static	False

C++ defination code:

int hold_current_per(int per=-1)

use_internal_sense_resistors

def use_internal_sense_resistors(self, b: bool = True) -> None

Enable or disable internal sense resistors

item	description
type	func
param	b: Boolean value to enable (true) or disable (false) internal sense resistors. Default is true.
static	False

C++ defination code:

void use_internal_sense_resistors(bool b=true)

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