3D scanner control library

This repository contains a Python library to control TMCL-based stepper motors, specifically designed for use with a 3D scanner system using three TRINAMIC PDx-110-42 motors. The library consists of three main files:

1. tmcl_interface.py: Provides an interface to the TMCL protocol for communication with stepper motor controllers.
2. motor_controller.py: Defines the Motor class that represents a single motor and its functions, utilizing the TMCL interface.
3. scanner_motor_manager.py: Manages multiple motor controllers by implementing the ScannerControl class.

Installation

You can install the library using pip:

pip install git+https://github.com/martinunland/scanner_motor_control.git

Or download the wheel in repositories and pip:

pip install scanner_motor_control-0.2.1-py3-none-any.whl

Dependencies

This library requires Python 3.6+ and the pyserial package for serial communication with the motor controllers.

You can install pyserial using pip:

pip install pyserial

Usage

To use the library, you need to first create an instance of the ScannerControl class, which will manage the motors. You can then connect the motors, set their speed and acceleration, find reference positions, activate/deactivate stall guards, and perform various motor movements.

Here's a simple example:

from scanner_motor_control import ScannerControl

# Create an instance of the ScannerControl class
scanner = ScannerControl()

# Connect the motors to their respective serial ports
ports = ['/dev/ttyS0', '/dev/ttyS1', '/dev/ttyS2']
scanner.connect(ports)
scanner.configure_motors()

# Find the reference position (0,0,0) of the system, moving all motors as far left as possible
scanner.find_reference_position()

# Move each motor to an absolute position in millimeters
scanner.move_to_absolute_position_in_mm([10, 20, 30])

# Move each motor -5mm relative to the current position
scanner.move_relative_distance_in_mm([-5, -5, -5])

# Disconnect the motors
scanner.disconnect()

You can also work in a with block as in this example:

with ScannerControl() as scanner:
    scanner.connect(['/dev/ttyS0', '/dev/ttyS1', '/dev/ttyS2'])
    scanner.find_reference_position()
    scanner.configure_motors()
    scanner.move_relative_distance_in_mm([-15, -15, -15])
    print(scanner.get_current_position())

In this case, the motors are automatically disconnected if an exception occurs or if the with block is finished.

If you request a position outside the available volume, an exception will be risen. You can check the position as follows:

valid = scanner.check_position_in_mm_allowed([-15, -15, -15], relative = True)