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LukeSkywalker92 / pyTMCL

TMCL Serial interface to Trinamic Stepper Motors
MIT License
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Missing example/initilisation code for TMCM (e.g. 1270) CANopen #2

Open Zebrafish007 opened 4 years ago

Zebrafish007 commented 4 years ago

Hi,

I am struggling to get my ESD CAN-USB/2 device working with the python-tmcl (pyTMCL) software. What do I need to write for "serial_port = Serial("/dev/tty.usbmodem1241")" for below code as I have an usb/can interface device.

Cheers,

Installed: Win 10 Pro, x64 python 3.7.4 pyUSB 1.0.2 LibUSB1 1.7.1 CAN 3.3.2

from serial import Serial from time import sleep import TMCL serial-address as set on the TMCM module.

MODULE_ADDRESS = 1 Open the serial port presented by your rs485 adapter

serial_port = Serial("/dev/tty.usbmodem1241") Create a Bus instance using the open serial port

bus = TMCL.connect(serial_port) Get the motor

motor = bus.get_motor(MODULE_ADDRESS) From this point you can start issuing TMCL commands to the motor as per the TMCL docs. This example will rotate the motor left at a speed of 1234 for 2 seconds

motor.rotate_left(1234) sleep(2) motor.stop()

LukeSkywalker92 commented 4 years ago

Hi, I never tried to use this on windows, but I think you should write the name of the device that is shown in the device manager. So something like COM1.

emma-branigan commented 4 years ago

Hi there,

As a user of the pyTMCL module on Windows, I can confirm that the line should read:

serial_port = Serial('COM*')

Replace * with the number that appears in the Device Manager once your USB device is connected

Zebrafish007 commented 4 years ago

Hi Emma,

The issue is that serial_port = Serial('COM') can't be used because the CAN-USB is not showing as a 'COM' device. Using Zadig 2.4 to change the drivers in any selectable from the presented list didn't work either.

In the meantime I've got this far using the ntcan python lib from ESD:

MODULE_ADDRESS = 0 net=0 # logical CAN Network [0, 255] RxQS=2000 # RxQueueSize [0, 10000] RxTO=2000 # RxTimeOut in Millisconds TxQS=1 # TxQueueSize [0, 10000] TxTO=1000 # TxTimeOut in Millseconds

cifFlags= # Flags

cif = ntcan.CIF(net,RxQS,RxTO,TxQS,TxTO)
print ('"Initialize CANBUS: %s"' % cif)
sys.stdout.flush()

# set baudrate 0 = 1MBaud
# CAN-API-Description

cif.baudrate = 0

bus = pyTMCL.connect(cif, CAN=False)
print ('bus   :', bus)
sys.stdout.flush()

motor = bus.get_motor(MODULE_ADDRESS)
print ('motor action 0 : ', motor)
motor.target_speed = 20000 
print ('motor action 1 : ', motor)
motor.rotate_left = 12340
print ('motor action 2 : ', motor)
sys.stdout.flush()

sleep(5)
try:
    motor.stop()
    print ('And the crowd cheered and echood "Throw us a party"!')
    sys.stdout.flush()
except can.CanError:
    print("Message NOT sent")
    sys.stdout.flush()
Zebrafish007 commented 4 years ago

import ntcan import pyTMCL

Zebrafish007 commented 4 years ago

With libusb-win32 (1.2.6.0) in device-manager it shows up under "libusb-win32 devices". With WinUSB (6.1.7600.16385) its under "Unversal Serial Bus devices. Then with "libbusbK (3.0.7.0) it shows as "libusbK USB Devices". But with "USB Serial (CDC) it now shows under "Ports (COM & LPT) as "USB2292(COM4), however, its still not working.

There also appears some class inheritance issues for all methods under self.axis in the motor class.