__init__.py 文件源码

def __init__(self, spi, dir_pin, step_pin, pin_mode=GPIO.BCM, current=300, resistor=150):
    """
    Arguments
      dir_pin - the pin where the direction pin is connected
      step_pin - the pin where the step pin is connected
      current - chopper current in milliamps
      resistor - sense resistor value
    """
    super().__init__(dir_pin=dir_pin, step_pin=step_pin, pin_mode=pin_mode)
    self._microsteps = 1
    self._spi = spi
    # store the current and sense resistor value for later use
    self._resistor = resistor
    # we are not started yet
    self._started = False
    # by default cool step is not enabled
    self._cool_step_enabled = False
    # Holds the last result read from the spi bus
    self._driver_status_result = None
    # setting the default register values
    # self.driver_control_register_value = set_bit(REGISTERS['DRIVER_CONTROL_REGISTER'], INITIAL_MICROSTEPPING)
    # self._microsteps = (1 << INITIAL_MICROSTEPPING)
    # self.chopper_config_register = REGISTERS['CHOPPER_CONFIG_REGISTER']
    # self.cool_step_register_value = REGISTERS['COOL_STEP_REGISTER']
    # self.stall_guard2_current_register_value = REGISTERS['STALL_GUARD2_LOAD_MEASURE_REGISTER']
    # self.driver_configuration_register_value = set_bit(REGISTERS['DRIVER_CONFIG_REGISTER'], DRIVER_CONTROL_REGISTER['READ_STALL_GUARD_READING'])
    # self.driver_control_register = DriverControlRegister()
    # self.chopper_config_register = ChopperControllRegister()
    # self.cool_step_register = CoolStepControlRegister()
    # self.stall_guard2_register = StallGuard2ControlRegister()
    # self.driver_config_register = DriverConfigRegister()
    self._registers = {
      DriverControlRegister: DriverControlRegister(),
      ChopperControllRegister: ChopperControllRegister(),
      CoolStepControlRegister: CoolStepControlRegister(),
      StallGuard2ControlRegister: StallGuard2ControlRegister(),
      DriverConfigRegister: DriverConfigRegister()
    }