实验室中的第三只手：滑轨参数以及控制接口

Posted 2022-02-11 卓晴

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简介：大多数实验内部的滑轨以及机械臂，XY平移平台都是有步进电机驱动的。本文给出了用于这些实验设备驱动的模块所对应的接口。同时也给出了最初这些模块设计和制作的连接。

关键词：滑轨，步进电机，蓝牙，Zigbee，WiFi

§01 滑轨控制

对于实验室中的几个滑轨执行器的参数和控制接口进行总结。

1.1 WiFI单轴SH-20403

单轴步进驱动模块SH-20403

1.1.1 控制器外观

▲ 图1.1.1 控制器外观

1.1.2 控制接口命令

#!/usr/local/bin/python
# -*- coding: gbk -*-
#============================================================
# LSCM8.PY                     -- by Dr. ZhuoQing 2020-01-14
#
# Note:
#============================================================

from head import *
import serial

#------------------------------------------------------------
cmdportdef = 'COM2'
cmdport = serial.Serial(cmdportdef, baudrate=115200, timeout=0.1)
cmdport.setDTR(False)
#cmdport.setRTS(False)

printf("Open %s for LSCM8."%cmdportdef)

#------------------------------------------------------------
COMMAND_FRAME_HEAD		= 0x56
COMMAND_FRAME_TAIL		= 0x65

COMMAND_STATUS_WAIT		= 0x0
COMMAND_STATUS_COMMAND	        = 0x1
COMMAND_STATUS_LENGTH	        = 0x2
COMMAND_STATUS_DATA		= 0x3
COMMAND_STATUS_CHECK	        = 0x4
COMMAND_STATUS_TAIL		= 0x5

#------------------------------------------------------------
COMMAND_HELLO_ECHO		= 0x20
COMMAND_BEEP_ON			= 0x21
COMMAND_BEEP_OFF		= 0x22
COMMAND_DIR_ON			= 0x23
COMMAND_DIR_OFF			= 0x24
COMMAND_REL_ON			= 0x25
COMMAND_REL_OFF			= 0x26
COMMAND_PUL_SET			= 0x27
COMMAND_PUL_STOP		= 0x28
COMMAND_GOTO_HEAD		= 0x29
COMMAND_GOTO_TAIL		= 0x2A
COMMAND_GET_STATE		= 0x2B
COMMAND_GET_PULSEOUT	        = 0x2C
COMMAND_CLEAR_PULSEOUT	        = 0x2D

#------------------------------------------------------------
def lscm8cmd(cmd, cmddata):

    checksum = cmd + len(cmddata)
    for cd in cmddata:
        checksum = checksum + cd

    checksum = (checksum & 0xff) ^ 0xff

    cmdstr = b'' + byte(COMMAND_FRAME_HEAD) + byte(cmd) + byte(len(cmddata)) +\\
             cmddata + byte(checksum) + byte(COMMAND_FRAME_TAIL)

#    printf(cmdstr)
    cmdport.write(cmdstr)

def lscm8hello():
    lscm8cmd(COMMAND_HELLO_ECHO, b'')

def lscm8beepon():
    lscm8cmd(COMMAND_BEEP_ON, b'')

def lscm8beepoff():
    lscm8cmd(COMMAND_BEEP_OFF, b'')

#------------------------------------------------------------
def lscm8relon(bits):
    cmd = bits.to_bytes(1, byteorder='big')
    lscm8cmd(COMMAND_REL_ON, cmd)

#------------------------------------------------------------
# bits:0:relay0, 1:relay1
def lscm8reloff(bits):
    cmd = bits.to_bytes(1, byteorder='big')
    lscm8cmd(COMMAND_REL_OFF, cmd)

def lscm8diron(bits):
    cmd = bits.to_bytes(1, byteorder='big')
    lscm8cmd(COMMAND_DIR_ON, cmd)

def lscm8diroff(bits):
    cmd = bits.to_bytes(1, byteorder='big')
    lscm8cmd(COMMAND_DIR_OFF, cmd)

#------------------------------------------------------------
def lscm8setpulse(bits, pulse):
    cmd = bits.to_bytes(1, byteorder='big') +\\
          pulse.to_bytes(4, byteorder='big')
    lscm8cmd(COMMAND_PUL_SET, cmd)

def lscm8stoppulse():
    lscm8cmd(COMMAND_PUL_STOP, b'')

def lscm8gotohead():
    lscm8cmd(COMMAND_GOTO_HEAD, b'')

def lscm8gototail():
    lscm8cmd(COMMAND_GOTO_TAIL, b'')

def lscm8clearpulseout():
    lscm8cmd(COMMAND_CLEAR_PULSEOUT, b'')

def lscm8mf(steps):
    lscm8diron(3)
    lscm8reloff(3)
    lscm8setpulse(3, steps)

def lscm8mb(steps):
    lscm8diroff(3)
    lscm8reloff(3)
    lscm8setpulse(3, steps)

#------------------------------------------------------------
if __name__ == "__main__":
    time.sleep(.5)

    if len(sys.argv) > 1:
        step = int(sys.argv[1])
        if step > 0:
            lscm8mf(step)
        else: lscm8mb(-step)
    else:
        lscm8mb(1000)
        
    tspbeep(1500, 100)
    printf('End of the command')

#------------------------------------------------------------
#        END OF FILE : LSCM8.PY
#============================================================

1.2 蓝牙双轴SH-20403

SH-20403AXIS12双轴蓝牙移动框架

1.2.1 控制器外观

▲ 图1.2.1 SH-20403两台驱动器外观

1.2.2 控制软件接口

#!/usr/local/bin/python
# -*- coding: gbk -*-
#============================================================
# SHAXIS12.PY                  -- by Dr. ZhuoQing 2020-01-14
#
# Note:
#============================================================

from head import *

from tsmodule.tshardware import *

#------------------------------------------------------------

def shcmd(cmd):
    ccloadSerial.write(b'\\r')
    cmd = bytes(cmd, 'utf-8') + b'\\r'
    ccloadSerial.write(cmd)

def shaxis(n1=0, n2=0):
    shcmd('sm2pul %d %d'%(n1, n2))

def shaxis1(n1):
    shcmd('sm2pul1 %d'%n1)

def shaxis2(n1):
    shcmd('sm2pul2 %d'%n1)

#------------------------------------------------------------
if __name__ == '__main__':
    shaxis1(2200)

    tspbeep(1200, 200)

#------------------------------------------------------------
#        END OF FILE : SHAXIS12.PY
#============================================================

1.3 WiFiESP8266单轴控制器

1.3.1 控制器外观

▲ 图1.3.1 基于ESP8266 WiFi的步进电机控制器

1.3.2 控制命令

利用tshardward内部的rccw,rccw两个命令控制步进电机的运行。

RAIL_CONTROL_IP     = '192.168.0.203'
RAIL_CONTROL_PORT   = 6000

def rcccw(step):
    strcmd = 'ccw %d'%step
    udpsendstr(RAIL_CONTROL_IP,
               RAIL_CONTROL_PORT,
               strcmd)

def rccw(step):
    strcmd = 'cw %d'%step
    udpsendstr(RAIL_CONTROL_IP,
               RAIL_CONTROL_PORT,
               strcmd)

rccw: 往下运动
rcccw:往上运动；
参数： n~[0,4850]
运行时间： 15秒