Python Example code

AutoTuner

In this Python example, the connected motor performs the auto-tune process according to the Ziegler-Nichols method. The calculated values are then stored in the ROM of the Acrome SMD board, and the motor moves to the setpoint value entered by the user

Required equipment:

• DC motor

• ACROME SMD

from smd import actuator
import time
import copy

master = actuator.Master(4096, '/dev/ttyUSB0', baudrate=115200)
master.AutoScan()

print(f"Number of Actuator boards connected: {len(master.ActList)}")

if(len(master.ActList) == 0):
    raise ConnectionError("No Actuator boards detected. Check cable connections!")
print(f" The connected Actutators' IDs : {master.ActList}")

# Initial full package read of Actuator parameters
for act_id in master.ActList:
    master.send(master.Actuators[act_id].Read(full=True))
    time.sleep(0.05)
    master.pass2buffer(master.receive())
    master.findPackage()

# Using Autotuner for PID gains tuning
for act_id in master.ActList:
    copyact =  copy.deepcopy(master.Actuators[act_id])
    copyact.Configuration.data.torqueEnable.data = 1
    master.send(master.Actuators[act_id].Write(copyact))

    copyact =  copy.deepcopy(master.Actuators[act_id])
    copyact.Configuration.data.autotunerEnable.data = 1
    master.send(master.Actuators[act_id].Write(copyact))

    copyact =  copy.deepcopy(master.Actuators[act_id])
    copyact.Autotuner.data.method.data = 0x02   # Ziegler Nichols method
    master.send(master.Actuators[act_id].Write(copyact))

time.sleep(0.3)
input("Press any key after tuning process is completed. ")

# Read tuned PID parameters
for act_id in master.ActList:
    master.send(master.Actuators[act_id].Read(full=True))
    time.sleep(0.05)
    master.pass2buffer(master.receive())
    master.findPackage()

# Disable Autotuning process
for act_id in master.ActList:
    copyact =  copy.deepcopy(master.Actuators[act_id])
    copyact.Configuration.data.autotunerEnable.data = 0
    master.send(master.Actuators[act_id].Write(copyact))

input("Press any key to save the parameters to ROM  ")
for act_id in master.ActList:
    master.send(master.Actuators[act_id].ROMWrite())

setpoint = int(input("Enter a setpoint for move Actuators to a position  "))
for act_id in master.ActList:
    copyact =  copy.deepcopy(master.Actuators[act_id])
    copyact.Configuration.data.operationMode.data = 0   # Position control
    copyact.PositionControl.data.setpoint.data = setpoint
    master.send(master.Actuators[act_id].Write(copyact))