TIC

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Control a stepper motor's movement through a Polulu TIC driver. The user defines the speed and the sleep time between movements. (To choose the position, use the STEPPER_DRIVER_TIC_KNOB.) Params: default : OrderedPair The default positions to move the stepper motor to, by default None 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
from ticlib import (
    TicUSB,
)  # Import the TicUSB library to send command to Tic drivers with USB connection


@flojoy(deps={"ticlib": "0.2.2"})
def TIC(
    default: Optional[OrderedPair] = None,
    current_limit: int = 30,
    sleep_time: int = 2,
    speed: int = 100000,
) -> OrderedPair:
    """Control a stepper motor's movement through a Polulu TIC driver.

    The user defines the speed and the sleep time between movements.

    (To choose the position, use the STEPPER_DRIVER_TIC_KNOB.)

    Parameters
    ----------
    default : OrderedPair, optional
        The default positions to move the stepper motor to, by default None
    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
    """

    # Setting default positions
    positions: list[int] = [50, 100, 150, 200]

    # Declaration of the stepper driver
    tic: TicUSB = TicUSB()
    tic.halt_and_set_position(0)  # Set the position to 0
    # Set the current limit of the TIC driver
    tic.set_current_limit(current_limit)
    tic.energize()  # Turn on the driver
    tic.exit_safe_start()  # The driver is now ready to receive commands

    for i in range(0, len(positions)):
        tic.set_max_speed(speed)  # Set motor speed
        tic.set_target_position(positions[i])  # Set target positions
        sleep(sleep_time)

    tic.deenergize()
    tic.enter_safe_start()

    return OrderedPair(x=positions, y=positions)

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Example App

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In this example, the STEPPER_DRIVER_TIC node controls a stepper motor movement with a TIC driver.

First, the user must define the current limitation, which depends on the motor’s size and model. After that, he can set the speed and choose the sleep time between movements.

Then, after clicking the PLAY button, the motor will move between the four default positions. (To choose positions, use the STEPPER_DRIVER_TIC_KNOB node.)

To create a repetitive movement, use the LOOP node.