kurokesu / scf4-sdk Goto Github PK

Motorized zoom lens controller Kurokesu SCF4 module featuring STM32 controller and Onsemi LC898201 driver control software

Home Page: https://www.kurokesu.com

License: GNU General Public License v3.0

Python 100.00%

lens lc898201 stm32 module scf4 python pyqt5

scf4-sdk's Introduction

Kurokesu SCF4 multi-axis stepper motor controller System On Module (SOM) targets applications where time to market, reliability and small footprint is important. Main control MCU is ST Cortex STM32F103 powerful enough either to run standard or run dedicated standalone firmware. The motor front end is based on ON Semiconductor new and highly specialized chipset LC898201.

Full documentation moved to WIKI

More details and ordering info at https://www.kurokesu.com

Some standalone use examples:

React to lidar distance sensor and adjust focus/zoom accordingly
Switch day/night filter by measuring ambient light intensity (with dedicated analog or digital sensor)
Take R/C inputs and control Remote-controlled drone or vehicle lens
Switch / reconfigure lens by single GPIO input (for example: reconfigure lens for wide/near operation by toggling GPIO pin)
And much more...

Managed mode (default) target applications worth mentioning:

Computer vision and analysis applications
Scientiffic applications
Neural network image processing and recognition applications
Transport systems (ITS)
Universal Pan/Tilt/Zoom and/or Focus/Zoom/Iris/+ driver
Toll systems
Trafic or segmental speed measurement
ROV/Drone lens control unit
Face recognition applications
Long term time-lapse cameras
Distant camera installations that may require reconfiguring optical train remotely
And much more...

scf4-sdk's People

Contributors

Stargazers

Watchers

Forkers

mohndrilling dlwalter thiwankajayasiri mfurkanates long1382k ardontju gbonteanu sheetal-007 x5500

scf4-sdk's Issues

update homing procedures

Theia step count exceeds 0xFFFF - alternative drive mode needs to be implemented

Documentation shows conflicting descriptions for G90 and G91 codes

https://wiki.kurokesu.com/books/scf4/page/controlling-scf4-with-g-code-commands

This page initially describes

G90 - Absolute Programming Mode
G91 - Incremental Programming Mode

then later on the page describes

G90 - Relative coordinates
Switch to relative coordinate programming mode. Motors can be instructed to turn positive or negative 0 ~ 65535 steps (16-bits). When the counter exceeds this range, it will overflow. And will not affect motor movement.

G91 - Absolute coordinates
Switch to absolute coordinate programming mode. In this mode, the range is limited by the internal 16-bit motor register and can be operated in a range of 0 ~ 65535.

G90 should be Absolute Coordinates and G91 should be Relative Coordinates. Or Incremental to keep with the initial language.

if rec == "seek_a":                            
    status_str = self.__ser_send(ser, "!1") 
    status = self.__parse_status(status_str)
    if status[3] == 1: 
        self.__ser_send(ser, "G91")
        self.__ser_send(ser, "M231 A")          # Set motion to forced mode
        self.__ser_send(ser, "G0 A+100") 
        self.__wait_till_stop(ser, status[CHA_PI], CHA_PI)     # Wait until homing is over 
    else: 
        self.__ser_send(ser, "G91") 
        self.__ser_send(ser, "M231 A")          # Set motion to forced mode
        self.__ser_send(ser, "G0 A-100") 
        self.__wait_till_stop(ser, status[CHA_PI], CHA_PI)     # Wait until homing is over

which results in incorrect homing behavior. Stage A moves away from the center reference point. The G0 command should be reverse for each case.

if rec == "seek_a":                            
    status_str = self.__ser_send(ser, "!1") 
    status = self.__parse_status(status_str)
    if status[3] == 1: 
        self.__ser_send(ser, "G91")
        self.__ser_send(ser, "M231 A")          # Set motion to forced mode
        self.__ser_send(ser, "G0 A-100")      # <--reverse direction
        self.__wait_till_stop(ser, status[CHA_PI], CHA_PI)     # Wait until homing is over 
    else: 
        self.__ser_send(ser, "G91") 
        self.__ser_send(ser, "M231 A")          # Set motion to forced mode
        self.__ser_send(ser, "G0 A+100")      # <--reverse direction 
        self.__wait_till_stop(ser, status[CHA_PI], CHA_PI)     # Wait until homing is over

Results in correct homing behavior.