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Add support for motor endstops #1

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Merged
stealthizer merged 2 commits into from
Jun 27, 2024
Merged

Add support for motor endstops #1

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e12a84d
Add support for motor endstops
Unus-Multorum May 30, 2024
c023baa
Update flows.json.tmpl
Unus-Multorum Jun 26, 2024
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10 changes: 6 additions & 4 deletions update/meanwhile/OpenScan.py
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Original file line number Diff line number Diff line change
Expand Up @@ -133,7 +133,7 @@ def camera(cmd, msg = {}):
except:
return 400

def motorrun(motor,angle,ES_enable=False,ES_start_state = True):
def motorrun(motor,angle,ES_enable=False):
#motor can be "rotor", "tt" or "extra"
import RPi.GPIO as GPIO
from time import sleep
Expand All @@ -147,6 +147,7 @@ def motorrun(motor,angle,ES_enable=False,ES_start_state = True):
dirpin = load_int('pin_' + motor + '_dir')
steppin = load_int('pin_' + motor +'_step')
ES_pin = load_int('pin_' + motor + '_endstop')
ES_pushed = load_bool(motor + '_endstop_pushed')
dir = load_int(motor + '_dir')
ramp = load_int(motor + '_accramp')
acc = load_float(motor + '_acc')
Expand All @@ -163,11 +164,12 @@ def motorrun(motor,angle,ES_enable=False,ES_start_state = True):
if(step_count<0):
GPIO.output(dirpin, GPIO.LOW)
step_count=-step_count

for x in range(step_count):
if ES_enable == True and GPIO.input(ES_pin) != ES_start_state:
if ES_enable == True and GPIO.input(ES_pin) == ES_pushed and (motor == "rotor" and GPIO.input(dirpin) == False):
i = 0
while i <= 10:
if GPIO.input(ES_pin) == ES_start_state:
if GPIO.input(ES_pin) != ES_pushed:
i = 11
if i == 10:
return
Expand Down Expand Up @@ -231,7 +233,7 @@ def take_photo(file):
else:
cmd = 'libcamera-still -n --denoise off --sharpness 0 -o ' + filepath2 + ' -t ' + timeout +' --shutter ' + shutter + ' --saturation ' + saturation + ' --contrast ' + contrast + ' --awbgains '+awbg_red + "," + awbg_blue + ' --gain ' + gain + ' -q ' + str(quality) + autofocus + ' >/dev/null 2>&1'
# cmd = 'libcamera-still -n --denoise off --sharpness 0 -o ' + filepath2 + ' -t ' + timeout +' --shutter ' + shutter + ' --saturation ' + saturation + ' --contrast ' + contrast + ' --awbgains '+awbg_red + "," + awbg_blue + ' --gain ' + gain + ' -q ' + str(quality) + autofocus

system(cmd)
return cmd

Expand Down
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