add example.py

example.py

@@ -0,0 +1,83 @@
+import time
+
+from stspin import (
+    SpinChain,
+    SpinDevice,
+    Constant as StConstant,
+    Register as StRegister,
+    utility,
+)
+
+def print_visual_status(device: SpinDevice) -> None:
+    status = device.getStatus()
+    print(utility.getPrettyStatus(status))
+
+if '__main__' == __name__:
+    # {{{ Setup devices
+    stChain = SpinChain(
+        total_devices=2,
+        spi_select=(0, 0),
+        chip_select_pin=None, # Not implemented, relies on spidev for CS pin
+    )
+
+    motorMain = stChain.create(1)
+    motorAux = stChain.create(0)
+
+    # Warning: These ICs start in holding mode by default,
+    # which means MAXIMUM CURRENT is going through your stepper motors
+    motorMain.hiZHard()
+    motorAux.hiZHard()
+    # }}}
+
+    # If the motor doesn't seem to run, try changing the overcurrent threshold
+    # Also check device.getStatus output for further info
+    # Do NOT exceed your motor's current rating
+    # Do NOT rely on the chip's Thermal Shutdown protection
+    #motorMain.setRegister(StRegister.ThOcd, 0xF)
+    #motorAux.setRegister(StRegister.ThOcd, 0xF)
+
+    motorMain.setRegister(StRegister.SpeedMax, 0x22)
+
+    #print(f'Status: 0x{motorMain.getStatus():02X}')
+    print_visual_status(motorMain)
+
+    # {{{ Simple run test
+    motorMain.run(100)
+    time.sleep(3)
+
+    print_visual_status(motorMain)
+    time.sleep(3)
+
+    motorMain.hiZSoft()
+    time.sleep(1)
+    # }}}
+
+    # {{{ Set some registers
+    motorMain.setRegister(StRegister.Acc, 0x5)
+    motorMain.setRegister(StRegister.Dec, 0x10)
+    motorAux.setRegister(StRegister.Acc, 0x20)
+    # }}}
+
+    # {{{ Go n steps with both motors
+    print('Accelerating')
+    motorMain.move(steps=420000)
+    motorAux.move(steps=420000)
+    print('Still running...')
+    while motorMain.isBusy():
+        time.sleep(0.2)
+
+    print('Motor done moving')
+    # }}}
+
+    # {{{ Go back to original position with main motor
+    # Alternatively use GoMark and GoHome commands
+    motorMain.setDirection(StConstant.DirReverse)
+    motorMain.move(steps=420000)
+
+    while motorMain.isBusy():
+        # Watch motor acceleration
+        print(f'Speed: {motorMain.getRegister(StRegister.Speed)} uStep/s')
+        time.sleep(0.2)
+    # }}}
+
+    motorMain.hiZHard()