A device for controlling the focus on the camera modules of the Modular Insertion System.
(previously named mis-cafomoco)
This board uses a Raspberry Pi Pico as a USB-to-PWM interface for the 3x BD65496MUV motor drivers onboard. The boards are stackable so that a stack of two can be used to drive 6 focus motors with one USB connection. This device was designed to be used with the 12V micro-metal gearmotors from Pololu, with the magnetic encoder add-ons for closed-loop control.
Below is a list of serial commands supported by the device. Most commands can refer to several motors at once with unique arguments. Motor lists are separated by commas; argument lists are separated by commas.
| Command | Example | Description |
|---|---|---|
is_busy\r\n |
is_busy\r\n |
Returns True\r\n if any motor is moving. returns False\r\n when the device is not busy; |
SET_SPEED <motor_0>,<motor_1> <m0_percent>,<m1_percent>\r\n |
SET_SPEED 3,2,4 50,50,60\r\n |
Set the speed of motors 3, 2, and 4 to 50%, 50%, and 60% repsectively. |
TIME_MOVE <motor_0>,<motor_1> <clockwise>,<clockwise> <ms>,<ms>\r\n |
TIME_MOVE 0,1 1,1 3000,3000\r\n |
Rotate selected cameras (0 and 1) clockwise (if 1, otherwise ccw) for specified time (in milliseconds). |
See the mis-focus-controller-sw for a pip-installable python driver.