Motion works

software/motion_controller/main.py

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+import machine
+from machine import Pin
+from time import sleep
+from neopixel import NeoPixel
+from motion_controller.accel_stepper import AccelStepper, DRIVER
+from utime import ticks_us, sleep_us
+
+"""CL57T(V4.0) Closed-Loop Stepper Driver
+10
+Figure 10: Sequence chart of control signals
+Remark:
+a) t1: ENA must be ahead of DIR by at least 200ms. Usually, ENA+ and ENA- are NC (not connected). See
+“Connector P1 Configurations” for more information.
+b) t2: DIR must be ahead of PUL effective edge by 2us to ensure correct direction;
+c) t3: Pulse width not less than 1us;
+d) t4: Low level width not less than 1us;
+e) Duty cycle of PUL signal is recommended 50%"""
+
+def machine_main():
+    # machine.freq()  # get the current frequency of the CPU
+    # machine.freq(240000000)  # set the CPU frequency to 240 MHz
+
+    thrust_step_pin = Pin("D10", Pin.OUT)
+    thrust_dir_pin = Pin("D9", Pin.OUT)
+    thrust_step_pin.value(0)
+    thrust_dir_pin.value(0)
+
+    def step():
+        thrust_step_pin.value(1)
+        sleep_us(1)
+        thrust_step_pin.value(0)
+
+    def fwd():
+        thrust_dir_pin.value(1)
+        sleep_us(2)
+        step()
+
+    def rev():
+        thrust_dir_pin.value(0)
+        sleep_us(2)
+        step()
+
+    thrust_axis = AccelStepper(fwd, rev)
+    thrust_axis_endstop_estop_pin = Pin("D21", Pin.IN, Pin.PULL_UP)
+
+    pin = Pin("D6", Pin.OUT)  # Pin number for v1 of the above DevKitC, use pin 38 for v1.1
+    np = NeoPixel(pin, 3)  # "1" = one RGB led on the "led bus"
+    for pixel in range(3):
+        np[pixel] = (0, 255, 0)
+        np.write()
+
+    thrust_steps_per_revolution = 3200
+    thrust_max_speed = 20 * thrust_steps_per_revolution
+
+    thrust_homing_speed = 8 * thrust_steps_per_revolution
+    thrust_max_acceleration = 5 * thrust_steps_per_revolution
+
+    thrust_axis.set_max_speed(thrust_max_speed)
+    thrust_axis.set_acceleration(thrust_max_acceleration)
+    thrust_axis.set_speed(thrust_homing_speed)
+
+    thrust_axis.move(-100*thrust_steps_per_revolution)
+
+    print("Homing")
+    while thrust_axis_endstop_estop_pin.value():
+        thrust_axis.run()
+        print(f"{thrust_axis.current_position()}:{thrust_axis.target_position()}")
+    print("Homed")
+    thrust_axis.set_current_position(0)
+
+    thrust_axis.set_max_speed(thrust_max_speed)
+    thrust_axis.run_to_new_position(200)
+
+    for i in range(3):
+        thrust_axis.run_to_new_position(5000)
+        thrust_axis.run_to_new_position(200)
+
+
+
+machine_main()