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132 lines
2.9 KiB
Python
132 lines
2.9 KiB
Python
import RPi.GPIO as GPIO
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import sys, time
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GPIO.setmode(GPIO.BCM)
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GPIO.setwarnings(False)
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def full_step(phase,pins):
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pin1, pin2, pin3, pin4 = pins
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if phase==0:
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GPIO.output(pin1, 0)
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GPIO.output(pin2, 0)
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GPIO.output(pin3, 0)
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GPIO.output(pin4, 0)
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if phase==1:
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GPIO.output(pin1, 1)
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GPIO.output(pin2, 1)
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GPIO.output(pin3, 0)
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GPIO.output(pin4, 0)
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if phase==2:
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GPIO.output(pin1, 0)
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GPIO.output(pin2, 1)
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GPIO.output(pin3, 1)
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GPIO.output(pin4, 0)
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if phase==3:
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GPIO.output(pin1, 0)
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GPIO.output(pin2, 0)
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GPIO.output(pin3, 1)
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GPIO.output(pin4, 1)
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if phase==4:
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GPIO.output(pin1, 1)
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GPIO.output(pin2, 0)
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GPIO.output(pin3, 0)
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GPIO.output(pin4, 1)
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def half_step(phase,pins):
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pin1, pin2, pin3, pin4 = pins
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if phase==0:
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GPIO.output(pin1, 0)
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GPIO.output(pin2, 0)
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GPIO.output(pin3, 0)
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GPIO.output(pin4, 0)
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if phase==1:
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GPIO.output(pin1, 1)
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GPIO.output(pin2, 0)
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GPIO.output(pin3, 0)
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GPIO.output(pin4, 0)
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if phase==2:
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GPIO.output(pin1, 1)
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GPIO.output(pin2, 1)
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GPIO.output(pin3, 0)
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GPIO.output(pin4, 0)
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if phase==3:
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GPIO.output(pin1, 0)
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GPIO.output(pin2, 1)
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GPIO.output(pin3, 0)
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GPIO.output(pin4, 0)
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if phase==4:
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GPIO.output(pin1, 0)
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GPIO.output(pin2, 1)
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GPIO.output(pin3, 1)
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GPIO.output(pin4, 0)
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if phase==5:
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GPIO.output(pin1, 0)
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GPIO.output(pin2, 0)
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GPIO.output(pin3, 1)
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GPIO.output(pin4, 0)
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if phase==6:
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GPIO.output(pin1, 0)
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GPIO.output(pin2, 0)
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GPIO.output(pin3, 1)
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GPIO.output(pin4, 1)
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if phase==7:
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GPIO.output(pin1, 0)
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GPIO.output(pin2, 0)
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GPIO.output(pin3, 0)
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GPIO.output(pin4, 1)
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if phase==8:
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GPIO.output(pin1, 1)
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GPIO.output(pin2, 0)
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GPIO.output(pin3, 0)
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GPIO.output(pin4, 1)
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def full_phase(pins):
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#order=[1,2,3,4]
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order=[4,3,2,1]
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print("Moving in {}-order".format(order))
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for i in order:
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full_step(i, pins)
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time.sleep(0.005)
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def half_phase(pins):
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for i in range(0,8):
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half_step(i,pins)
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time.sleep(0.0025)
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def forward(pins):
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half_phase(pins)
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def backward(pins):
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(pins[0], pins[1], pins[2], pins[3]) = (pins[1], pins[0], pins[2], pins[3])
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half_phase(pins)
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if __name__=='__main__':
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pins=[6, 13, 19, 26]
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for pin in pins:
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GPIO.setup(pin, GPIO.OUT)
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while True:
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try:
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start=time.time()
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while(time.time()<start+10):
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forward(pins)
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start=time.time()
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while(time.time()<start+10):
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backward(pins)
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except KeyboardInterrupt:
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break
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GPIO.cleanup()
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