Controller for VSMD can motor
Explained by doc file VSMD1X6_SERIES_V1.0.pdf, it's easy to convert can.message to meaningful frame.
bus = can.interface.Bus(bustype='socketcan', channel='can0', bitrate=500000)
while True:
for msg in bus:
print("\n%2d\n" % cnt)
# set debug = true make it to show inf of can-frame
can_frame = VsmdCanFrame(msg, debug=True)
For an example,say frame 0004079F#0020000000000000 , it can be interpreted as below:
************************************************************
| Main: |
+ Raw : 0004079f#0020000000000000
+ Sender : vcan0
+ Extent ID Frame : 00000000001000000011110011111
+ DLC : 8
+ Data Frame : ['00200000', '00000000']
| Extend ID Frame |
+ Source Device : Pi
+ Target Device : BroadCast
+ Command Word : 11
+ CMD or Register ADR : READ_DATA_REGS
| Action |
+ CW Means : CMD
| Data Frame |
+ Command : [('Data Reg Start:', <DataRegTable.CID: ['0000000', 'Channel ID', 'Determined by motor']>), ('Data Reg count:', 32)]
************************************************************
More function will be added soon.
from VSMD import CANFunctionList
bus = can.interface.Bus(bustype='socketcan', channel='can0', bitrate=500000)
CANFunctionList.move("X",10,bus)
I have sealed most type of command of VSMD in script,you can import them like this:
from VSMD import CommonCMD
Which contains these sub-function:
-
enable_motor(device: str)
ENA 0x01
CAN motor is allowed to move after ENA is ON
-
disable_motor(device: str)
OFF 0x02
Make CAN motor ignore move cmd. Often used for broadcast
-
move_motor(device: str, speed: int)
MOV 0x05
Move motor with specific speed. This is somehow dangerous
-
stop_motor(device: str)
STP 0x04
Stop the motor now.
-
move_to(device: str, pos: int)
POS 0x06
Mode to absolute pos.
-
move_dis(device: str, dis: int)
RMV 0x0B
Mode to relative pos.
-
read_status_regs(device: str, reg: StatusRegTable, cnt: int)
READ STATUS REGS 0x1E
Follow the PDF
-
read_data_regs(device: str, reg: DataRegTable, cnt: int)
READ DATA REGS 0x1F
Follow the PDF
Note : set_data_regs is coming soon