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        "description": "# ST Spin Family Interface\nA Python library for interfacing with [ST Spin Family devices](https://www.digikey.fi/en/product-highlight/s/stmicroelectronics/motor-control-easyspin \"ST Spin Family devices\"),\nspecifically the ST Micro **L6470**, **L6472**, **L6474**, and **L6480** ICs.\nCan be used nearly without modification with similar ICs.\n\nIf you do not specify your own spi_transfer function when creating a SpinChain, this project relies on [spidev's](https://pypi.org/project/spidev/ \"spidev\") SPI transfer function.\n\nPython 3.6 or greater recommended.\n\n## Getting Started\n`pip install st-spin`\n`pip install spidev` (if you intend to use /dev/spi and spidev's spi transfer function)\n\n**Add imports**\n```python\nimport time  # Used in our example\n\nfrom stspin import (\n    SpinChain,\n    SpinDevice,\n    Constant as StConstant,\n    Register as StRegister,\n    utility,\n)\n```\n**Create a device chain**\n```python\nstChain = SpinChain(\n    total_devices=2,\n    spi_select=(0, 0),\n)\n```\nThis assumes the spi device is at 0, 0.\n\n**Create devices**\n```python\nmotorMain = stChain.create(1)\nmotorAux = stChain.create(0)\n\n# Unless you absolutely need holding current,\n# it is good practice to disable the power bridges\nmotorMain.hiZHard()\nmotorAux.hiZHard()\n```\n**Run basic commands**\n```\nmotorMain.setRegister(StRegister.SpeedMax, 0x22)\n\nmotorMain.run(100)\ntime.sleep(3)\nmotorMain.hiZSoft()\ntime.sleep(1)\n\n# {{{ Set some registers\nmotorMain.setRegister(StRegister.Acc, 0x5)\nmotorMain.setRegister(StRegister.Dec, 0x10)\nmotorAux.setRegister(StRegister.Acc, 0x20)\n# }}}\n\n# {{{ Go n steps with both motors\nmotorMain.move(steps=420000)\nmotorAux.move(steps=420000)\nwhile motorMain.isBusy():\n    time.sleep(0.2)\n# }}}\n\n# {{{ Head back\nmotorMain.setDirection(StConstant.DirReverse)\nmotorMain.move(steps=420000)\nwhile motorMain.isBusy():\n    time.sleep(0.2)\n# }}}\n\n# Release holding current\nmotorAux.hiZHard()\nmotorMain.hiZHard()\n```\n### More details\nFor details on the SPI setup, see [create()](https://github.com/m-laniakea/st_spin/blob/dev/stspin/spin_chain.py#L47) in spin_chain.py.\nSee [example.py](https://github.com/m-laniakea/st_spin/blob/dev/example.py \"example.py\").\n\n**Creating your own spi_transfer function**\nYou may use your own spi transfer function in place of spidev's xfer2.\n```\ndef custom_spi_transfer(buffer: List[int]) -> List[int]:\n    # TODO: Implement me\n    pass\n\nstChain = SpinChain(\n    total_devices=2,\n    spi_transfer=custom_spi_transfer,\n)\n```\n`custom_spi_transfer()` must take a list of bytes as int,\nand return a same-length list of bytes as int from the MISO pin.\n\nIt should handle latching using the Chip Select pin, and transfer data with MSB first in\nSPI Mode 3 (sample on rising edge, shift out on falling edge).\n\nOn these devices, Chip Select is active low.\n### Troubleshooting\ngetStatus() is your friend. Feel free to use getPrettyStatus() under utility.py.\nThe manual is also your friend.\n\n**Q: Why is my motor stalling, loud, or both?**\nMost likely the Back-EMF compensation is not configured properly.\nThe correction parameters depend heavily on your motor's ke value (V/Hz), inductance, and phase resistance.\n\nAfter calculating the parameters using the manufacturer's tool, set KvalAcc, SpeedInt, SlpSt, etc. using setRegister().\n\n\n",
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