Управление двигателями Velemx с помощью Python ⇐ Python

[Anonymous]

У меня есть двигатель velmex, который движется вертикально, и я пытаюсь управлять им с помощью Python. Мне удалось написать скрипт, который может перемещать его вверх и вниз на желаемое количество шагов. Я хотел бы написать функцию, которая каждый раз перемещает двигатель velmex в одно и то же положение. Оттуда я могу использовать его для последовательного перехода к желаемым позициям. Текущий кодекс не устанавливает точку отсчета.

Код: Выделить всё

import serial
import time

class VelmexMotorController:
def __init__(self, com_port, axis=1, home_position=0, target_start_position=-9000, baudrate=9600, timeout=5, max_step=2000):
self.com_port = com_port
self.axis = axis  # Specify the axis (1 by default)
self.baudrate = baudrate
self.timeout = timeout
self.home_position = home_position  # Define the home position (e.g., 0 steps)
self.target_start_position = target_start_position  # Define the desired starting position
self.current_position = 0  # Track the current position of the motor
self.ser = None  # Serial object, initialized later
self.max_step = max_step  # Max steps per command to prevent overload

def connect(self):
"""Initialize and open the serial port."""
self.ser = serial.Serial()
self.ser.port = self.com_port
self.ser.baudrate = self.baudrate
self.ser.bytesize = serial.EIGHTBITS
self.ser.parity = serial.PARITY_NONE
self.ser.stopbits = serial.STOPBITS_ONE
self.ser.timeout = self.timeout
self.ser.xonxoff = False
self.ser.rtscts = False
self.ser.dsrdtr = False
self.ser.writeTimeout = 2

try:
self.ser.open()  # Attempt to open the serial port
print(f"Serial port {self.ser.port} opened successfully.")
except Exception as e:
print(f"Error opening serial port: {e}")
return False
return True

def disconnect(self):
"""Close the serial port."""
if self.ser and self.ser.isOpen():
self.ser.close()
print(f"Serial port {self.ser.port} closed.")

def move(self, steps, delay=1):
"""Move the motor a specified number of steps on the specified axis, with delay."""
if not self.ser or not self.ser.isOpen():
print("Serial port not open.")
return

remaining_steps = abs(steps)
direction = 1 if steps > 0 else -1  # Determine direction of movement

while remaining_steps > 0:
move_steps = min(remaining_steps, self.max_step)  # Limit each move to max_step steps
move_steps *= direction  # Apply direction

try:
# Flush input and output buffers
self.ser.flushInput()
self.ser.flushOutput()

# Send command to move the motor on the specified axis
command = f"F,C,I{self.axis}M{move_steps},R\r\n".encode('utf-8')
self.ser.write(command)

time.sleep(delay)  # Wait for the motor to complete the movement
self.current_position += move_steps  # Update the current position
print(f"Moved {move_steps} steps on axis {self.axis}.  Current position: {self.current_position}")

except Exception as e1:
print(f"Error communicating: {e1}")
break

remaining_steps -= abs(move_steps)  # Reduce the remaining steps to move

def go_home(self, delay=5):
"""Move the motor back to the home position on the specified axis."""
steps_to_home = -self.current_position  # Steps to return to home (reverse of current position)
self.move(steps_to_home, delay)
print(f"Motor on axis {self.axis} returned to home position.")
self.current_position = self.home_position  # Reset the current position to home

def read_current_position(self):
"""Read the current position of the motor from the hardware."""
# Replace with the actual command to read the position
try:
command = f"F,C,I{self.axis}PR\r\n".encode('utf-8')  # Replace with correct read command
self.ser.write(command)
time.sleep(0.1)  # Wait for response

response = self.ser.readline().decode('utf-8').strip()  # Read response
self.current_position = int(response)  # Assuming response is the current position
print(f"Current position read: {self.current_position}")
except Exception as e:
print(f"Error reading current position: {e}")

def initialize(self):
"""Move to home position initially and then to the target start position."""
print(f"Homing the motor on axis {self.axis}...")
self.go_home()  # Start by going to the home position

# Read the current position after homing
self.read_current_position()

# Calculate the steps needed to reach the target start position
steps_to_start = self.target_start_position - self.current_position
print(f"Moving to target start position: {self.target_start_position} from current position: {self.current_position}...")
self.move(steps_to_start)  # Move to the target start position
print(f"Motor on axis {self.axis} is now at the starting position: {self.current_position}")

if __name__ == "__main__":
# Initialize motor controller for axis 2
motor = VelmexMotorController(com_port="COM3", axis=2)

# Connect to the motor
if motor.connect():
motor.initialize()  # Home the motor initially and move to target start position

# Example movement
# motor.move(-6000, delay=1)  # Move motor -60000 steps on axis 2, with 1 second delay between chunks

# Disconnect after operations
motor.disconnect()

Этот код не выполняет возврат к исходному коду и возвращает неточные контрольные точки. Вывод из консоли:

Код: Выделить всё

Serial port COM3 opened successfully.
Homing the motor on axis 2...
Motor on axis 2 returned to home position.
Error reading current position: invalid literal for int() with base 10: '?^'
Moving to target start position: -9000 from current position: 0...
Moved -2000 steps on axis 2. Current position: -2000
Moved -2000 steps on axis 2. Current position: -4000
Moved -2000 steps on axis 2. Current position: -6000
Moved -2000 steps on axis 2. Current position: -8000
Moved -1000 steps on axis 2. Current position: -9000
Motor on axis 2 is now at the starting position: -9000
Serial port COM3 closed.

Возможно, я неправильно интерпретирую команды vxm?
https://velmex.com/wp-content/uploads/2018/07/VXM -Command-Summary-Rev-B-814.pdf

Подробнее здесь: https://stackoverflow.com/questions/791 ... ith-python