version 0.5.3

.github/workflows/python-publish.yml

@@ -1,11 +1,3 @@
-# This workflow will upload a Python Package using Twine when a release is created
-# For more information see: https://docs.github.com/en/actions/automating-builds-and-tests/building-and-testing-python#publishing-to-package-registries
-
-# This workflow uses actions that are not certified by GitHub.
-# They are provided by a third-party and are governed by
-# separate terms of service, privacy policy, and support
-# documentation.
-
 name: Upload Python Package
 
 on:

.github/workflows/test.yml

@@ -0,0 +1,61 @@
+name: Test
+
+on: [push, pull_request]
+
+jobs:
+  markdownlint:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - uses: DavidAnson/markdownlint-cli2-action@v14
+      with:
+        globs: |
+          README.md
+          CHANGELOG.md
+          docs/*.md
+
+  pylint:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.7", "3.9", "3.12"]
+    steps:
+    - uses: actions/checkout@v3
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v3
+      with:
+        python-version: ${{ matrix.python-version }}
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install pylint
+        pip install gpiozero
+        pip install RPi.GPIO
+        pip install Mock.GPIO
+        pip install mock
+        pip install pyserial
+    - name: Analysing the code with pylint
+      run: |
+        pylint $(git ls-files '*.py') --disable=C0103 --disable=W0511 --extension-pkg-whitelist=RPi
+
+  unittest:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.7", "3.9", "3.12"]
+    steps:
+    - uses: actions/checkout@v3
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v3
+      with:
+        python-version: ${{ matrix.python-version }}
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install gpiozero
+        pip install RPi.GPIO
+        pip install Mock.GPIO
+        pip install pyserial
+    - name: Run unittests
+      run: |
+        python -m unittest

CHANGELOG.md

@@ -1,5 +1,13 @@
 # Changelog
 
+## version 0.5.3
+
+- added math function constrain
+- added function set_speed
+- added function set_speed_fullstep
+- added demo_script_11_continous_movement
+- reworked github actions pipeline (one multi-staged-pipeline)
+
 ## version 0.5.2
 
 - added extra error handling for when the UART serial is not set

demo/demo_script_11_continous_movement.py

@@ -0,0 +1,142 @@
+#pylint: disable=wildcard-import
+#pylint: disable=unused-wildcard-import
+#pylint: disable=unused-import
+#pylint: disable=duplicate-code
+"""
+test file for testing basic movement
+"""
+
+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, loglevel=Loglevel.DEBUG)
+elif BOARD == Board.RASPBERRY_PI5:
+    tmc = TMC_2209(21, 16, 20, serialport="/dev/ttyAMA0", loglevel=Loglevel.DEBUG)
+elif BOARD == Board.NVIDIA_JETSON:
+    tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1", loglevel=Loglevel.DEBUG)
+else:
+    # just in case
+    tmc = TMC_2209(21, 16, 20, loglevel=Loglevel.DEBUG)
+
+
+
+
+
+
+#-----------------------------------------------------------------------
+# 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---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# these functions read and print the current settings in the TMC register
+#-----------------------------------------------------------------------
+tmc.read_ioin()
+tmc.read_chopconf()
+tmc.read_drv_status()
+tmc.read_gconf()
+
+print("---\n---")
+
+
+
+
+
+
+
+#-----------------------------------------------------------------------
+# set the max Speed and Speed in fullsteps
+#-----------------------------------------------------------------------
+tmc.set_max_speed_fullstep(200)
+tmc.set_speed_fullstep(100)
+
+
+
+
+
+
+
+#-----------------------------------------------------------------------
+# activate the motor current output
+#-----------------------------------------------------------------------
+tmc.set_motor_enabled(True)
+
+
+
+
+
+#-----------------------------------------------------------------------
+# move the motor 4 seconds
+#-----------------------------------------------------------------------
+time_start = time.time()
+
+while time.time() < time_start + 4:
+    tmc.run_speed()
+
+
+
+
+
+
+#-----------------------------------------------------------------------
+# deactivate the motor current output
+#-----------------------------------------------------------------------
+tmc.set_motor_enabled(False)
+
+print("---\n---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# deinitiate the TMC_2209 class
+#-----------------------------------------------------------------------
+del tmc
+
+print("---")
+print("SCRIPT FINISHED")
+print("---")

setup.cfg

@@ -1,6 +1,6 @@
 [metadata]
 name = TMC_2209_Raspberry_Pi
-version = 0.5.2
+version = 0.5.3
 author = Christian Köhlke
 author_email = christian@koehlke.de
 description = this is a Python libary to drive a stepper motor with a Trinamic TMC2209 stepper driver and a Raspberry Pi

src/TMC_2209/TMC_2209_StepperDriver.py

@@ -45,10 +45,10 @@ class TMC_2209:
     )
 
     from ._TMC_2209_move import (
-        set_movement_abs_rel, get_current_position, set_current_position, set_max_speed,
-        set_max_speed_fullstep, get_max_speed, set_acceleration, set_acceleration_fullstep,
-        get_acceleration, stop, get_movement_phase, run_to_position_steps,
-        run_to_position_revolutions, run_to_position_steps_threaded,
+        set_movement_abs_rel, get_current_position, set_current_position, set_speed,
+        set_speed_fullstep, set_max_speed, set_max_speed_fullstep, get_max_speed,
+        set_acceleration, set_acceleration_fullstep, get_acceleration, stop, get_movement_phase,
+        run_to_position_steps, run_to_position_revolutions, run_to_position_steps_threaded,
         run_to_position_revolutions_threaded, wait_for_movement_finished_threaded, run,
         distance_to_go, compute_new_speed, run_speed, make_a_step
     )

src/TMC_2209/_TMC_2209_math.py

@@ -83,3 +83,21 @@ def steps_to_tstep(steps, msres):
         tstep (int): time per step
     """
     return int(round(12000000 / (steps * 256 / msres)))
+
+
+def constrain(val, min_val, max_val):
+    """constrains a value between a min and a max
+
+    Args:
+        val (int): value that should be constrained
+        min_val (int): minimum value
+        max_val (int): maximum value
+
+    Returns:
+        int: constrained value
+    """
+    if val < min_val:
+        return min_val
+    if val > max_val:
+        return max_val
+    return val

src/TMC_2209/_TMC_2209_move.py

@@ -14,6 +14,7 @@
 import threading
 from ._TMC_2209_GPIO_board import TMC_gpio, Gpio
 from ._TMC_2209_logger import Loglevel
+from . import _TMC_2209_math as tmc_math
 
 
 
@@ -74,6 +75,36 @@ def set_current_position(self, new_pos):
     self._current_pos = new_pos
 
 
+def set_speed(self, speed):
+    """sets the motor speed in steps per second
+
+    Args:
+        speed (int): speed in steps/sec
+    """
+    if speed == self._speed:
+        return
+    speed = tmc_math.constrain(speed, -self._max_speed, self._max_speed)
+    if speed == 0.0:
+        self._step_interval = 0
+    else:
+        self._step_interval = abs(1000000.0 / speed)
+        if speed > 0:
+            self.set_direction_pin_or_reg(1)
+            self.tmc_logger.log("going CW", Loglevel.MOVEMENT)
+        else:
+            self.set_direction_pin_or_reg(0)
+            self.tmc_logger.log("going CCW", Loglevel.MOVEMENT)
+    self._speed = speed
+
+
+def set_speed_fullstep(self, speed):
+    """sets the motor speed in fullsteps per second
+
+    Args:
+        speed (int): speed in fullsteps/sec
+    """
+    self.set_speed(speed*self.get_microstepping_resolution())
+
 
 def set_max_speed(self, speed):
     """sets the maximum motor speed in µsteps per second