TIC_KNOB

Control a stepper motor's movement through a Polulu TIC driver. The user controls the motor's rotation with the knob position, specified in the node's parameters. Params: default : OrderedPair The default value of the node, by default None knob_value : int Defines the position of the motor (rotational movement). current_limit : int Defines the current limitation that the stepper motor will receive. sleep_time : int Defines the sleep time after moving to each position. speed : int Defines the speed of the motor movement (between 0 and 200000). Returns: out : OrderedPair

Python Code

from time import sleep
from typing import Optional

from flojoy import OrderedPair, flojoy

# Import the TicUSB library to send command to Tic drivers with USB connection
from ticlib import TicUSB


@flojoy(deps={"ticlib": "0.2.2"})
def TIC_KNOB(
    default: Optional[OrderedPair] = None,
    knob_value: int = 0,
    current_limit: int = 30,
    sleep_time: int = 2,
    speed: int = 200000,
) -> OrderedPair:
    """Control a stepper motor's movement through a Polulu TIC driver.

    The user controls the motor's rotation with the knob position, specified in the node's parameters.

    Parameters
    ----------
    default : OrderedPair, optional
        The default value of the node, by default None
    knob_value : int
        Defines the position of the motor (rotational movement).
    current_limit : int
        Defines the current limitation that the stepper motor will receive.
    sleep_time : int
        Defines the sleep time after moving to each position.
    speed : int
        Defines the speed of the motor movement (between 0 and 200000).

    Returns
    -------
    OrderedPair
    """

    # Converting the knob value into a position
    knob_position: int = 2 * knob_value

    # Declaration of the stepper driver (You can add serial number to specify the driver)
    tic: TicUSB = TicUSB()
    # Set the current limit for the driver TIC
    tic.set_current_limit(current_limit)
    tic.energize()  # Turn on the driver
    tic.exit_safe_start()  # The driver is now ready to receive commands
    # Set maximum speed for the motor during first movement.
    tic.set_max_speed(speed)

    tic.halt_and_set_position(0)  # Set initial position to origin
    sleep(sleep_time)

    # Set target position for the first movement
    tic.set_target_position(knob_position)
    sleep(sleep_time)

    tic.deenergize()
    tic.enter_safe_start()

    return OrderedPair(x=knob_position, y=speed)

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Example

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In this example, the STEPPER_DRIVER_TIC_KNOB node controls a stepper motor movement with a TIC driver. It allows you to control the motor’s rotation with a KNOB button. (From 0 to 100 corresponds to a rotation between 0 and 360 degrees.)

First, the user must define the current limitation, which depends on the motor’s size and model. After that, he can set the speed, the rotation, and the sleep time to create a specific movement for different applications. Then, after clicking the PLAY button, the motor will start moving.

After updating the knob position, click on PLAY again to initiate a new movement.

To create a repetitive movement, use the LOOP and GOTO nodes.