pystages.tic
- class pystages.tic.Tic
Very basic driver class for Polulu Tic Stepper Motor controller, connected in USB.
- Variables:
poll_interval – Interval between successive state polling for some long motor operations.
- __init__()
- Parameters:
num_axis – The number of axis of the stage, can be updated or set after initialization of the object.
- block_read(command: TicCommand, offset, length) bytes
Read data from the device.
- Parameters:
command – Command code.
offset – Data offset.
length – Data length.
- go_home(direction: TicDirection, wait: bool = True)
Run the homing procedure. :param direction: Homing direction. :param wait: If True, wait for homing procedure end.
- home(wait=False)
Triggers a Home command.
- Parameters:
wait – Optionally waits for move operation to be done.
- property is_moving: bool
Because there is no specific command to get the current moving state of the Tic, and the positioning/homing is always blocking, this function returns False in all cases.
- property position: Vector
Motor position, in steps.
- Getter:
Returns current target position.
- Setter:
Set target position and wait until position is reached.
- quick(command: TicCommand)
Send a quick command with no data.
- Parameters:
command – Command.
- set_setting(command: TicCommand, data, offset)
Set setting data.
- Parameters:
command – Command code.
data – Value to be written.
offset – Write offset.
- write_32(command: TicCommand, data: int)
Write 32 bits.
- Parameters:
command – Command code.
data – Value to be written.
- write_7(command: TicCommand, data: int)
Write 7 bits.
- Parameters:
command – Command.
data – Value to be written.
- class pystages.tic.TicVariable(value)
Variables which can be read using GET_VARIABLE command. https://www.pololu.com/docs/0J71/7
- ACTING_TARGET_POSITION = (42, 4, True)
- AGC_BOTTOM_CURRENT_LIMIT = (87, 1, False)
- AGC_CURRENT_BOOST_STEP = (88, 1, False)
- AGC_FREQUENCY_LIMIT = (89, 1, False)
- AGC_MODE = (86, 1, False)
- ANALOG_READING_RX = (69, 2, False)
- ANALOG_READING_SCL = (63, 2, False)
- ANALOG_READING_SDA = (65, 2, False)
- ANALOG_READING_TX = (67, 2, False)
- CURRENT_LIMIT = (74, 1, False)
- CURRENT_POSITION = (34, 4, True)
- CURRENT_VELOCITY = (38, 4, True)
- DECAY_MODE = (75, 1, False)
- DEVICE_RESET = (50, 1, False)
- DIGITAL_READINGS = (71, 1, False)
- ENCODER_POSITION = (57, 4, True)
- ERRORS_OCCURRED = (4, 4, False)
- ERROR_STATUS = (2, 2, False)
- INPUT_AFTER_AVERAGING = (77, 2, False)
- INPUT_AFTER_HYSTERESIS = (79, 2, False)
- INPUT_AFTER_SCALING = (81, 4, True)
- INPUT_STATE = (76, 1, False)
- LAST_HP_DRIVER_ERRORS = (255, 1, False)
- LAST_MOTOR_DRIVER_ERROR = (85, 1, False)
- MAX_ACCELERATION = (30, 4, False)
- MAX_DECELERATION = (26, 4, False)
- MAX_SPEED = (22, 4, False)
- MISC_FLAGS = (1, 1, False)
- OPERATION_STATE = (0, 1, False)
- PIN_STATES = (72, 1, False)
- PLANNING_MODE = (9, 1, False)
- RC_PULSE_WIDTH = (61, 2, False)
- STARTING_SPEED = (18, 4, False)
- STEP_MODE = (73, 1, False)
- TARGET_POSITION = (10, 4, True)
- TARGET_VELOCITY = (14, 4, True)
- TIME_SINCE_LAST_STEP = (46, 4, False)
- UP_TIME = (53, 4, False)
- VIN_VOLTAGE = (51, 2, False)