zdt-stepper 0.1.0

ZDT stepper motor control library

Quick Start

This is a Python library for controlling the closed-loop stepper motor controller from ZDT via UART serial connection. It includes all the documented commands from the spec sheet, and handles all parameters in a type-safe manner. It can also be extended with additional functionality, CAN communication, and can be modified for other serial controller devices. Fully tested and compatible with Python 3.10 and above.

Installation

pip install zdt_stepper

Basic Example

from serial import Serial
from stepper.commands.move import Enable, Move
from stepper.stepper_core.parameters import DeviceParams, PositionParams
from stepper.stepper_core.configs import (
    Address, Direction, Speed,
    Acceleration, PulseCount, AbsoluteFlag
)

# Connect to motor
serial = Serial("COM4", 115200, timeout=0.1)
device = DeviceParams(
    serial_connection=serial,
    address=Address(0x01)
)

# Enable motor
Enable(device=device).status
# Configure movement
params = PositionParams(
    direction=Direction.CW,
    speed=Speed(500),
    acceleration=Acceleration(127),
    pulse_count=PulseCount(160),
    absolute=AbsoluteFlag.RELATIVE
)

# Move motor
Move(device=device, params=params).status

# Move to absolute position
params.absolute = AbsoluteFlag.ABSOLUTE
Move(device=device, params=params).status

Features

• Motor control (enable/disable, move, jog, e-stop)
• Homing and calibration
• Real-time status monitoring
• Configuration management
• PID tuning
• Error handling

Status Monitoring

from stepper.commands.get import GetSysStatus

status = GetSysStatus(device=device).raw_data.data_dict
print(status)

Configuration

from src.stepper.commands.set import SetConfig
from src.stepper.stepper_constants import Microstep, StallTime

config = GetConfig(device=device).raw_data
config.microstep = Microstep(value=32)
config.stall_time = StallTime(value=100)
SetConfig(device=device, params=config).status

Development

# Install dev dependencies
pip install zdt_stepper[dev]

License

MIT License