ticlib is a pure-Python library to drive Pololu Tic stepper motor controllers.
This library supports serial, I²C, and USB connections for Python3; and serial and I²C for Micropython.
from src.ticlib import TicUSB
from time import sleep
tic = TicUSB()
tic.halt_and_set_position(0)
tic.energize()
tic.exit_safe_start()
positions = [500, 300, 800, 0]
for position in positions:
tic.set_target_position(position)
while tic.get_current_position() != tic.get_target_position():
sleep(0.1)
tic.deenergize()
tic.enter_safe_start()The ticlib library is hosted on PyPI and can be installed by running this command:
pip install ticlibExample using Python 3 and the pyserial library:
import serial
from src.ticlib import TicSerial
port = serial.Serial("/dev/ttyS0", baud_rate=9600, timeout=0.1, write_timeout=0.1)
tic = TicSerial(port)Example using Micropython:
from machine import UART
from ticlib import TicSerial
port = UART(0, baudrate=9600, timeout=100)
tic = TicSerial(port)Instantiation parameters for TicSerial:
port (required): Serial port used to communicate with the Tic.device_number (optional): Number of the device that you want to control. Use this if you have multiple devices
connected to your serial line. Defaults to None.crc_for_commands (optional): If True, the library will append a CRC byte to every command sent to the Tic. Set
this to True if your Tic's "Enable CRC for commands" setting is turned on. Defaults to False.crc_for_responses (optional): If True, the library will expect a CRC byte at the end of every response returned
by the Tic. Set this to True if your Tic's "Enable CRC for responses" setting is turned on. Defaults to False.For more details, see Pololu's official documentation on serial command encoding.
Example using Python 3 and the smbus2 library.
from smbus2 import SMBus
from ticlib import TicI2C, SMBus2Backend
bus = SMBus(3) # Represents /dev/i2c-3
address = 14 # Address of the Tic, that is its device number
backend = SMBus2Backend(bus)
tic = TicI2C(backend)Example using Micropython:
from machine import I2C
from ticlib import TicI2C, MachineI2CBackend
i2c = I2C(1) # ID of your I2C peripheral
address = 14 # Address of the Tic, that is its device number
backend = MachineI2CBackend(i2c, address)
tic = TicI2C(backend)Instantiation parameter for TicI2C:
backend (required): The I²C backend. Available options are SMBus2Backend for Python 3 and MachineI2C for
Micropython.Note: If you use a Raspberry Pi, make sure to follow the workaround described in the Pololu documentation.
For more details, see Pololu's official documentation on I²C command encoding.
The USB controller has a dependency on the pyusb library.
Example:
from src.ticlib import TicUSB
tic = TicUSB()Instantiation parameters for TicUSB:
product (optional): USB product ID for your Tic. If None, the device will be automatically detected. Use this if
multiple Tic devices are connected to your computer. The available options are: TIC_T825 (0x00b3), TIC_T834
(0x00b5), TIC_T500 (0x00bd), TIC_N825 (0x00c3), TIC_T249 (0x00c9), and TIC_36v4 (0x00cb). Defaults
to None.serial_number (optional): The serial number (in string format) of your Tic. If None, the device will be
automatically detected. Use this if multiple Tic devices are connected to your computer. Default to None.For more details, see Pololu's official documentation on USB command encoding.
Available commands:
tic.clear_driver_error()
tic.deenergize()
tic.energize()
tic.enter_safe_start()
tic.exit_safe_start()
tic.go_home(value)
tic.halt_and_hold()
tic.halt_and_set_position(value)
tic.reset()
tic.reset_command_timeout()
tic.set_agc_option(value)
tic.set_current_limit(value)
tic.set_decay_mode(value)
tic.set_max_acceleration(value)
tic.set_max_deceleration(value)
tic.set_max_speed(value)
tic.set_starting_speed(value)
tic.set_step_mode(value)
tic.set_target_position(value)
tic.set_target_velocity(value)For more details, see the official command reference.
Available variables:
# General status -------------------------------------
tic.get_error_occured()
tic.get_error_status()
tic.get_misc_flags()
tic.get_operation_state()
# Step planning ---------------------------------------
tic.get_acting_target_position()
tic.get_current_position()
tic.get_current_velocity()
tic.get_max_acceleration()
tic.get_max_deceleration()
tic.get_max_speed()
tic.get_planning_mode()
tic.get_starting_speed()
tic.get_target_position()
tic.get_target_velocity()
tic.get_time_since_last_step()
# Other -----------------------------------------------
tic.get_analog_reading_rx()
tic.get_analog_reading_scl()
tic.get_analog_reading_sda()
tic.get_analog_reading_tx()
tic.get_current_limit()
tic.get_decay_mode()
tic.get_device_reset()
tic.get_digital_readings()
tic.get_encoder_position()
tic.get_input_after_averaging()
tic.get_input_after_hysteresis()
tic.get_input_after_scaling()
tic.get_input_state()
tic.get_pin_states()
tic.get_rc_pulse()
tic.get_step_mode()
tic.get_vin_voltage()
tic.get_uptime()
# T249-only -------------------------------------------
tic.get_agc_bottom_current_limit()
tic.get_agc_current_boost_steps()
tic.get_agc_frequency_limit()
tic.get_agc_mode()
tic.get_last_motor_driver_error()
# 36v4-only -------------------------------------------
tic.get_last_hp_driver_errors()For more details, see the official variable reference.
Available settings:
tic.settings.get_control_mode()
# Miscellaneous -------------------------------------------------
tic.settings.get_auto_clear_driver_error()
tic.settings.get_disable_safe_start()
tic.settings.get_ignore_err_line_high()
tic.settings.get_never_sleep()
tic.settings.get_vin_calibration()
# Soft error response -------------------------------------------
tic.settings.get_current_limit_during_error()
tic.settings.get_soft_error_position()
tic.settings.get_soft_error_response()
# Serial --------------------------------------------------------
tic.settings.get_serial_7bit_responses()
tic.settings.get_serial_14bit_device_number()
tic.settings.get_serial_alt_device_number()
tic.settings.get_serial_baud_rate()
tic.settings.get_serial_command_timeout()
tic.settings.get_serial_crc_for_commands()
tic.settings.get_serial_crc_for_responses()
tic.settings.get_serial_device_number()
tic.settings.get_serial_enable_alt_device_number()
tic.settings.get_serial_response_delay()
# Encoder -------------------------------------------------------
tic.settings.get_encoder_postscaler()
tic.settings.get_encoder_prescaler()
tic.settings.get_encoder_unlimited()
# Input conditioning --------------------------------------------
tic.settings.get_input_averaging_enabled()
tic.settings.get_input_hysteresis()
# RC and analog scaling -----------------------------------------
tic.settings.get_input_invert()
tic.settings.get_input_max()
tic.settings.get_input_min()
tic.settings.get_input_neutral_max()
tic.settings.get_input_neutral_min()
tic.settings.get_input_scaling_degree()
tic.settings.get_output_max()
tic.settings.get_output_min()
# Pin Configuration ---------------------------------------------
# SCL
tic.settings.get_scl_active_high()
tic.settings.get_scl_config()
tic.settings.get_scl_enable_analog()
tic.settings.get_scl_enable_pull_up()
tic.settings.get_scl_kill_switch()
tic.settings.get_scl_limit_switch_forward()
tic.settings.get_scl_limit_switch_reverse()
tic.settings.get_scl_pin_function()
# SDA
tic.settings.get_sda_active_high()
tic.settings.get_sda_config()
tic.settings.get_sda_enable_analog()
tic.settings.get_sda_enable_pull_up()
tic.settings.get_sda_kill_switch()
tic.settings.get_sda_limit_switch_forward()
tic.settings.get_sda_limit_switch_reverse()
tic.settings.get_sda_pin_function()
# TX
tic.settings.get_tx_active_high()
tic.settings.get_tx_config()
tic.settings.get_tx_enable_analog()
tic.settings.get_tx_kill_switch()
tic.settings.get_tx_limit_switch_forward()
tic.settings.get_tx_limit_switch_reverse()
tic.settings.get_tx_pin_function()
# RX
tic.settings.get_rx_active_high()
tic.settings.get_rx_config()
tic.settings.get_rx_enable_analog()
tic.settings.get_rx_kill_switch()
tic.settings.get_rx_limit_switch_forward()
tic.settings.get_rx_limit_switch_reverse()
tic.settings.get_rx_pin_function()
# RC
tic.settings.get_rc_active_high()
tic.settings.get_rc_config()
tic.settings.get_rc_kill_switch()
tic.settings.get_rc_limit_switch_forward()
tic.settings.get_rc_limit_switch_reverse()
# Motor ---------------------------------------------------------
tic.settings.get_current_limit()
tic.settings.get_decay_mode()
tic.settings.get_invert_motor_direction()
tic.settings.get_max_acceleration()
tic.settings.get_max_deceleration()
tic.settings.get_max_speed()
tic.settings.get_starting_speed()
tic.settings.get_step_mode()
# Homing --------------------------------------------------------
tic.settings.get_auto_homing()
tic.settings.get_auto_homing_forward()
tic.settings.get_homing_speed_away()
tic.settings.get_homing_speed_towards()
# T249-only -----------------------------------------------------
tic.settings.get_agc_bottom_current_limit()
tic.settings.get_agc_current_boost_steps()
tic.settings.get_agc_mode()
tic.settings.get_agc_frequency_limit()
# 36v4-only -----------------------------------------------------
tic.settings.get_hp_current_trip_blanking_time()
tic.settings.get_hp_decay_mode()
tic.settings.get_hp_enable_adaptive_blanking_time()
tic.settings.get_hp_enable_unrestricted_current_limits()
tic.settings.get_hp_fixed_off_time()
tic.settings.get_hp_mixed_decay_transition_time()Modifying settings is currently not supported.
For more details, see the official settings reference.
Initial release.
For Python:
docker run -it -v ${PWD}:/base -w /base python python /base/tests/tests.pyFor Micropython:
docker run -it -v ${PWD}:/base -w /base mitchins/micropython-linux micropython /base/tests/tests.pyTo release a new version of this library:
src/ticlib/__init__.pyv<VERSION_NUMBER> (e.g. v.0.2.1)python3 -m buildpython3 -m twine upload dist/*