From c10cdf33512112c65ebf2ad4861d04cb993d56aa Mon Sep 17 00:00:00 2001
From: Sebastien Bourdeauducq <sb@m-labs.hk>
Date: Thu, 11 Aug 2022 15:00:43 +0800
Subject: [PATCH] better stepper control, endstops

---
 stepper.py | 74 ++++++++++++++++++++++++++++++------------------------
 1 file changed, 41 insertions(+), 33 deletions(-)

diff --git a/stepper.py b/stepper.py
index cf816ac..5d8a426 100644
--- a/stepper.py
+++ b/stepper.py
@@ -4,43 +4,51 @@ from artiq.experiment import *
 class Stepper(EnvExperiment):
     def build(self):
         self.setattr_device("core")
-        self.setattr_device("ttl0")
-        self.setattr_device("ttl1")
+        self.step_right = self.get_device("ttl0")
+        self.step_left = self.get_device("ttl1")
+        self.endstop_right = self.get_device("ttl4")
+        self.endstop_left = self.get_device("ttl5")
+
+    @kernel
+    def home(self):
+        while not self.endstop_right.sample_get_nonrt():
+            delay(5*ms)
+            for i in range(4000):
+              self.step_right.pulse(5*us)
+              delay(5*us)
+        while self.endstop_right.sample_get_nonrt():
+            self.step_left.pulse(5*us)
+
+    @kernel
+    def calibrate_full_range(self):
+        self.home()
+        full_range = 0
+        while not self.endstop_left.sample_get_nonrt():
+            self.step_left.pulse(5*us)
+            full_range += 1
+        return full_range
 
     @kernel
     def run(self):
         self.core.reset()
-        while True:
-            delay(5*ms)
-            for i in range(4000):
-                self.ttl0.pulse(5*us)
-                delay(5*us)
-            for i in range(4000):
-                self.ttl0.pulse(2*us)
-                delay(2*us)
-            for i in range(100000):
-                self.ttl0.pulse(1*us)
-                delay(1*us)
-            for i in range(4000):
-                self.ttl0.pulse(2*us)
-                delay(2*us)
-            for i in range(4000):
-                self.ttl0.pulse(5*us)
-                delay(5*us)
 
-            delay(5*ms)
-            for i in range(4000):
-                self.ttl1.pulse(5*us)
+        #full_range = self.calibrate_full_range()
+        full_range = 186900
+        used_range = int(0.9*full_range)
+        self.core.break_realtime()
+        self.home()
+
+        for i in range((full_range - used_range)//2):
+            self.step_left.pulse(5*us)
+            delay(5*us)
+
+        while True:
+            for i in range(full_range):
+                self.step_left.pulse(5*us)
                 delay(5*us)
-            for i in range(4000):
-                self.ttl1.pulse(2*us)
-                delay(2*us)
-            for i in range(100000):
-                self.ttl1.pulse(1*us)
-                delay(1*us)
-            for i in range(4000):
-                self.ttl1.pulse(2*us)
-                delay(2*us)
-            for i in range(4000):
-                self.ttl1.pulse(5*us)
+            delay(50*ms)
+
+            for i in range(full_range):
+                self.step_right.pulse(5*us)
                 delay(5*us)
+            delay(50*ms)