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117 lines
3.6 KiB
Python
117 lines
3.6 KiB
Python
from time import sleep
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import RPi.GPIO as GPIO
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from thread import start_new_thread
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import sys
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class Motor(object):
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def __init__(self, pins):
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self.P1 = pins[0]
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self.P2 = pins[1]
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self.P3 = pins[2]
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self.P4 = pins[3]
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self.deg_per_step = 5.625 / 64
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self.steps_per_rev = int(360 / self.deg_per_step) # 4096
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self.step_angle = 0 # Assume the way it is pointing is zero degrees
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for p in pins:
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GPIO.setup(p, GPIO.OUT)
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GPIO.output(p, 0)
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def __exit__(self, type, value, traceback):
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self.clean_pins_up()
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def _set_rpm(self, rpm):
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"""Set the turn speed in RPM."""
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self._rpm = rpm
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# T is the amount of time to stop between signals
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self._T = (60.0 / rpm) / self.steps_per_rev
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# This means you can set "rpm" as if it is an attribute and
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# behind the scenes it sets the _T attribute
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rpm = property(lambda self: self._rpm, _set_rpm)
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def clean_pins_up(self):
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GPIO.output(self.P1, 0)
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GPIO.output(self.P2, 0)
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GPIO.output(self.P3, 0)
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GPIO.output(self.P4, 0)
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def move_to(self, angle):
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"""Take the shortest route to a particular angle (degrees)."""
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# Make sure there is a 1:1 mapping between angle and stepper angle
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target_step_angle = 8 * (int(angle / self.deg_per_step) / 8)
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steps = target_step_angle - self.step_angle
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steps = (steps % self.steps_per_rev)
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if steps > self.steps_per_rev / 2:
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steps -= self.steps_per_rev
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print ("moving " + repr(steps) + " steps")
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self._move_acw(-steps / 8)
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else:
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print("moving " + repr(steps) + " steps")
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self._move_cw(steps / 8)
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# self.step_angle = target_step_angle #in case you want to keep track of the position
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self.step_angle = 0
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def _move_acw(self, big_steps):
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self.clean_pins_up()
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for i in range(big_steps):
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GPIO.output(self.P1, 0)
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sleep(self._T)
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GPIO.output(self.P3, 1)
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sleep(self._T)
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GPIO.output(self.P4, 0)
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sleep(self._T)
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GPIO.output(self.P2, 1)
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sleep(self._T)
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GPIO.output(self.P3, 0)
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sleep(self._T)
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GPIO.output(self.P1, 1)
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sleep(self._T)
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GPIO.output(self.P2, 0)
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sleep(self._T)
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GPIO.output(self.P4, 1)
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sleep(self._T)
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self.clean_pins_up()
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def _move_cw(self, big_steps):
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GPIO.output(self.P1, 0)
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GPIO.output(self.P2, 0)
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GPIO.output(self.P3, 0)
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GPIO.output(self.P4, 0)
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for i in range(big_steps):
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GPIO.output(self.P3, 0)
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sleep(self._T)
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GPIO.output(self.P1, 1)
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sleep(self._T)
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GPIO.output(self.P4, 0)
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sleep(self._T)
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GPIO.output(self.P2, 1)
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sleep(self._T)
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GPIO.output(self.P1, 0)
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sleep(self._T)
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GPIO.output(self.P3, 1)
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sleep(self._T)
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GPIO.output(self.P2, 0)
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sleep(self._T)
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GPIO.output(self.P4, 1)
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sleep(self._T)
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self.clean_pins_up()
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if __name__ == "__main__":
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GPIO.cleanup()
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GPIO.setmode(GPIO.BCM)
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m_l = Motor([6, 13, 19, 26])
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#m_r = Motor([10, 9, 11, 25])
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m_l.rpm = float(sys.argv[1])
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#m_r.rpm = float(sys.argv[1])
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print ("Pause in seconds: " + repr(m_l._T))
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i = 1
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while i < 5:
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start_new_thread(m_l.move_to, (int(sys.argv[2]),))
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#start_new_thread(m_r.move_to, (int(sys.argv[3]),))
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sleep(2)
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i = i + 1
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GPIO.cleanup() |