PiMotion Python Software Interface

General PiDevices

class pidev(addr[, password = None])

Create a pdev instance.

Parameters:
  • addr (string) – dot formated ip address of the device (ex: 192.168.1.170)
  • password (string) – the password of the device
pidev.set_password(password)

Change the password of the device.

Parameters:password (string) – exception type
Return type:pass fail

Example:

import pimotionx as pidev

pm = pidev.XPimotion('192.168.0.45')
pm.set_password("mynewpassword1234")

PiMotion Specific

pidev.mtr_write_velocity_profile(self, velocitys, accelerations[, start_delays=None, servomode=0, start_velocity=0.0])

Create a velocity profile.

pidev.mtr_write_trapezoidal_profile(self, positions, velocitys, accelerations, decelerations=None, start_position=None, start_delays=None)

Create a trapezoidal profile.

pidev.mtr_start(trigger)

Start a motion profile

Parameters:trigger (bool) – if True, the motion start will wait for a trigger to occur
Return type:pass fail

Example:

import pimotionx as pidev
pm = pidev.XPimotion('192.168.0.45')

# must configure and reset motor here!

velocity = [85333, 0]
acceleration = [3000, -3000]
pm.mtr_write_velocity_profile(velocity, acceleration, servomode = 0)
pm.mtr_start(0)
pidev.mtr_write_velocity_profile_old(self, times, vals, ec_div, enc_cnts_per_rot, servomode)

Change the password of the device.

pidev.mtr_write_target_position(self, position, servomode=0)

Set the target position.

pidev.mtr_reset(self)

Change the password of the device.

pidev.mtr_write_table(self, start_addr, np.ndarray[np.uint32_t, ndim=1] fields)

Change the password of the device.

pidev.mtr_read_table(self, start_addr, num_fields, np.ndarray[np.uint32_t, ndim=1] fields)

Change the password of the device.

pidev.mtr_write_phase_mem(self, start_addr, fields)

Change the password of the device.

pidev.mtr_write_phase_mem_default(self, phases, poles, enc_cnts_per_rot)

Change the password of the device.

pidev.daq_start(self, chan_id, divisor, start_sample, num_samples, trigger)

Change the password of the device.

pidev.daq_register_callback(self, chan_id, samples, milliseconds, f)

Change the password of the device.

pidev.daq_acquire_data(self, chan_id, samples, np.ndarray[np.int64_t, ndim=1] buf)

Change the password of the device.

pidev.daq_shutdown(self)

Change the password of the device.

pidev.err_register_callback(self, f)

Change the password of the device.

pidev.global_trigger(self, trigger)

Change the password of the device.

PiRelay Specific