55 lines
1.5 KiB
Python
55 lines
1.5 KiB
Python
from artiq.experiment import *
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class Stepper(EnvExperiment):
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def build(self):
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self.setattr_device("core")
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self.step_right = self.get_device("ttl0")
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self.step_left = self.get_device("ttl1")
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self.endstop_right = self.get_device("ttl4")
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self.endstop_left = self.get_device("ttl5")
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@kernel
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def home(self):
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while not self.endstop_right.sample_get_nonrt():
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delay(5*ms)
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for i in range(4000):
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self.step_right.pulse(5*us)
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delay(5*us)
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while self.endstop_right.sample_get_nonrt():
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self.step_left.pulse(5*us)
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@kernel
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def calibrate_full_range(self):
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self.home()
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full_range = 0
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while not self.endstop_left.sample_get_nonrt():
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self.step_left.pulse(5*us)
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full_range += 1
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return full_range
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@kernel
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def run(self):
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self.core.reset()
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#full_range = self.calibrate_full_range()
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full_range = 186900
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used_range = int(0.9*full_range)
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self.core.break_realtime()
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self.home()
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for i in range((full_range - used_range)//2):
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self.step_left.pulse(5*us)
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delay(5*us)
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while True:
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for i in range(used_range):
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self.step_left.pulse(5*us)
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delay(5*us)
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delay(50*ms)
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for i in range(used_range):
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self.step_right.pulse(5*us)
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delay(5*us)
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delay(50*ms)
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