bit more work on classes
This commit is contained in:
shrkey
@@ -1,5 +1,6 @@
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#!/usr/bin/python
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#!/usr/bin/python
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import RPi.GPIO as GPIO
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from Adafruit_PWM_Servo_Driver import PWM
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from Adafruit_PWM_Servo_Driver import PWM
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import time
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import time
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@@ -169,42 +170,75 @@ class dw_DCMotor:
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def __init__(self, controller, num):
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def __init__(self, controller, num):
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self.MC = controller
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self.MC = controller
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self.motornum = num
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self.motornum = num
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pwm = in1 = in2 = 0
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modepin = in1 = in2 = 0
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if (num == 0):
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if (num == 0):
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pwm = 8
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modepin = 11
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in2 = 9
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in2 = 8
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in1 = 10
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in1 = 9
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elif (num == 1):
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elif (num == 1):
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pwm = 13
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modepin = 11
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in2 = 12
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in2 = 10
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in1 = 11
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in1 = 11
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elif (num == 2):
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elif (num == 2):
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pwm = 2
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modepin = 13
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in2 = 3
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in2 = 7
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in1 = 4
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in1 = 6
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elif (num == 3):
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elif (num == 3):
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pwm = 7
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modepin = 13
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in2 = 6
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in2 = 5
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in1 = 5
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in1 = 4
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elif (num == 4):
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modepin = 15
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in2 = 0
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in1 = 1
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elif (num == 5):
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modepin = 15
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in2 = 2
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in1 = 3
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else:
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else:
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raise NameError('MotorHAT Motor must be between 1 and 4 inclusive')
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raise NameError('MotorHAT Motor must be between 1 and 6 inclusive')
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self.PWMpin = pwm
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self.MODEpin = modepin
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self.IN1pin = in1
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self.IN1pin = in1
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self.IN2pin = in2
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self.IN2pin = in2
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def setMode(self, level):
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if not self.MC:
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return
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if (level == dw_MotorCONTROL.ININ):
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GPIO.output(self.MODEpin, GPIO.LOW)
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if (level == dw_MotorCONTROL.PHASE):
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GPIO.output(self.MODEpin, GPIO.HIGH)
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def run(self, command):
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def run(self, command):
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if not self.MC:
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if not self.MC:
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return
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return
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if (command == dw_MotorCONTROL.FORWARD):
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if( GPIO.input( self.MODEpin ) == GPIO.LOW ):
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self.MC.setPin(self.IN2pin, 0)
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if (command == dw_MotorCONTROL.FORWARD):
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self.MC.setPin(self.IN1pin, 1)
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self.MC.setPin(self.IN2pin, 0)
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if (command == dw_MotorCONTROL.BACKWARD):
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self.MC.setPin(self.IN1pin, 1)
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self.MC.setPin(self.IN1pin, 0)
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if (command == dw_MotorCONTROL.BACKWARD):
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self.MC.setPin(self.IN2pin, 1)
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self.MC.setPin(self.IN1pin, 0)
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if (command == dw_MotorCONTROL.RELEASE):
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self.MC.setPin(self.IN2pin, 1)
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self.MC.setPin(self.IN1pin, 0)
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if (command == dw_MotorCONTROL.RELEASE):
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self.MC.setPin(self.IN2pin, 0)
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self.MC.setPin(self.IN1pin, 0)
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self.MC.setPin(self.IN2pin, 0)
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else:
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if (command == dw_MotorCONTROL.FORWARD):
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self.MC.setPin(self.IN2pin, 0)
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self.MC.setPin(self.IN1pin, 1)
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if (command == dw_MotorCONTROL.BACKWARD):
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self.MC.setPin(self.IN1pin, 0)
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self.MC.setPin(self.IN2pin, 1)
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if (command == dw_MotorCONTROL.RELEASE):
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self.MC.setPin(self.IN1pin, 0)
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self.MC.setPin(self.IN2pin, 0)
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def setSpeed(self, speed):
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def setSpeed(self, speed):
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if (speed < 0):
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if (speed < 0):
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speed = 0
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speed = 0
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@@ -223,14 +257,26 @@ class dw_MotorCONTROL:
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INTERLEAVE = 3
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INTERLEAVE = 3
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MICROSTEP = 4
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MICROSTEP = 4
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ININ = 0
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PHASE = 1
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def __init__(self, addr = 0x60, freq = 1600):
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def __init__(self, addr = 0x60, freq = 1600):
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self._i2caddr = addr # default addr on HAT
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self._i2caddr = addr # default addr on HAT
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self._frequency = freq # default @1600Hz PWM freq
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self._frequency = freq # default @1600Hz PWM freq
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self.motors = [ dw_DCMotor(self, m) for m in range(4) ]
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self.motors = [ dw_DCMotor(self, m) for m in range(6) ]
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# self.steppers = [ Adafruit_StepperMotor(self, 1), Adafruit_StepperMotor(self, 2) ]
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# self.steppers = [ Adafruit_StepperMotor(self, 1), Adafruit_StepperMotor(self, 2) ]
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self._pwm = PWM(addr, debug=False)
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self._pwm = PWM(addr, debug=False)
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self._pwm.setPWMFreq(self._frequency)
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self._pwm.setPWMFreq(self._frequency)
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GPIO.setmode(GPIO.BCM)
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GPIO.setup(11, GPIO.OUT)
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GPIO.setup(13, GPIO.OUT)
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GPIO.setup(15, GPIO.OUT)
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GPIO.output(11, GPIO.LOW)
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GPIO.output(13, GPIO.LOW)
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GPIO.output(15, GPIO.LOW)
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def setPin(self, pin, value):
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def setPin(self, pin, value):
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if (pin < 0) or (pin > 15):
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if (pin < 0) or (pin > 15):
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raise NameError('PWM pin must be between 0 and 15 inclusive')
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raise NameError('PWM pin must be between 0 and 15 inclusive')
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@@ -247,6 +293,6 @@ class dw_MotorCONTROL:
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# return self.steppers[num-1]
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# return self.steppers[num-1]
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def getMotor(self, num):
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def getMotor(self, num):
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if (num < 1) or (num > 4):
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if (num < 1) or (num > 6):
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raise NameError('MotorHAT Motor must be between 1 and 4 inclusive')
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raise NameError('MotorHAT Motor must be between 1 and 6 inclusive')
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return self.motors[num-1]
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return self.motors[num-1]
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@@ -1,58 +0,0 @@
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#!/usr/bin/python
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from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor
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import time
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import atexit
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# create a default object, no changes to I2C address or frequency
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mh = Adafruit_MotorHAT(addr=0x60)
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# recommended for auto-disabling motors on shutdown!
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def turnOffMotors():
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mh.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
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mh.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
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mh.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
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mh.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
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atexit.register(turnOffMotors)
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################################# DC motor test!
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myMotor = mh.getMotor(3)
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# set the speed to start, from 0 (off) to 255 (max speed)
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myMotor.setSpeed(150)
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myMotor.run(Adafruit_MotorHAT.FORWARD);
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# turn on motor
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myMotor.run(Adafruit_MotorHAT.RELEASE);
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while (True):
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print "Forward! "
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myMotor.run(Adafruit_MotorHAT.FORWARD)
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print "\tSpeed up..."
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for i in range(255):
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myMotor.setSpeed(i)
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time.sleep(0.01)
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print "\tSlow down..."
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for i in reversed(range(255)):
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myMotor.setSpeed(i)
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time.sleep(0.01)
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print "Backward! "
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myMotor.run(Adafruit_MotorHAT.BACKWARD)
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print "\tSpeed up..."
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for i in range(255):
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myMotor.setSpeed(i)
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time.sleep(0.01)
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print "\tSlow down..."
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for i in reversed(range(255)):
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myMotor.setSpeed(i)
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time.sleep(0.01)
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print "Release"
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myMotor.run(Adafruit_MotorHAT.RELEASE)
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time.sleep(1.0)
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@@ -1,67 +0,0 @@
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#!/usr/bin/python
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from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_StepperMotor
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import time
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import atexit
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import threading
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import random
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# create a default object, no changes to I2C address or frequency
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mh = Adafruit_MotorHAT()
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# create empty threads (these will hold the stepper 1 and 2 threads)
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st1 = threading.Thread()
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st2 = threading.Thread()
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# recommended for auto-disabling motors on shutdown!
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def turnOffMotors():
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mh.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
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mh.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
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mh.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
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mh.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
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atexit.register(turnOffMotors)
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myStepper1 = mh.getStepper(200, 1) # 200 steps/rev, motor port #1
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myStepper2 = mh.getStepper(200, 2) # 200 steps/rev, motor port #1
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myStepper1.setSpeed(60) # 30 RPM
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myStepper2.setSpeed(60) # 30 RPM
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stepstyles = [Adafruit_MotorHAT.SINGLE, Adafruit_MotorHAT.DOUBLE, Adafruit_MotorHAT.INTERLEAVE, Adafruit_MotorHAT.MICROSTEP]
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def stepper_worker(stepper, numsteps, direction, style):
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#print("Steppin!")
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stepper.step(numsteps, direction, style)
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#print("Done")
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while (True):
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if not st1.isAlive():
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randomdir = random.randint(0, 1)
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print("Stepper 1"),
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if (randomdir == 0):
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dir = Adafruit_MotorHAT.FORWARD
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print("forward"),
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else:
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dir = Adafruit_MotorHAT.BACKWARD
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print("backward"),
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randomsteps = random.randint(10,50)
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print("%d steps" % randomsteps)
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st1 = threading.Thread(target=stepper_worker, args=(myStepper1, randomsteps, dir, stepstyles[random.randint(0,3)],))
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st1.start()
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if not st2.isAlive():
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print("Stepper 2"),
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randomdir = random.randint(0, 1)
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if (randomdir == 0):
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dir = Adafruit_MotorHAT.FORWARD
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print("forward"),
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else:
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dir = Adafruit_MotorHAT.BACKWARD
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print("backward"),
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randomsteps = random.randint(10,50)
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print("%d steps" % randomsteps)
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st2 = threading.Thread(target=stepper_worker, args=(myStepper2, randomsteps, dir, stepstyles[random.randint(0,3)],))
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st2.start()
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@@ -1,120 +0,0 @@
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# Simple two DC motor robot class. Exposes a simple LOGO turtle-like API for
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# moving a robot forward, backward, and turning. See RobotTest.py for an
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# example of using this class.
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# Author: Tony DiCola
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# License: MIT License https://opensource.org/licenses/MIT
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import time
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import atexit
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from Adafruit_MotorHAT import Adafruit_MotorHAT
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class Robot(object):
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def __init__(self, addr=0x60, left_id=1, right_id=2, left_trim=0, right_trim=0,
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stop_at_exit=True):
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"""Create an instance of the robot. Can specify the following optional
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parameters:
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- addr: The I2C address of the motor HAT, default is 0x60.
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- left_id: The ID of the left motor, default is 1.
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- right_id: The ID of the right motor, default is 2.
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- left_trim: Amount to offset the speed of the left motor, can be positive
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or negative and use useful for matching the speed of both
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motors. Default is 0.
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- right_trim: Amount to offset the speed of the right motor (see above).
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- stop_at_exit: Boolean to indicate if the motors should stop on program
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exit. Default is True (highly recommended to keep this
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value to prevent damage to the bot on program crash!).
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"""
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# Initialize motor HAT and left, right motor.
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self._mh = Adafruit_MotorHAT(addr)
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self._left = self._mh.getMotor(left_id)
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self._right = self._mh.getMotor(right_id)
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self._left_trim = left_trim
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self._right_trim = right_trim
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# Start with motors turned off.
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self._left.run(Adafruit_MotorHAT.RELEASE)
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self._right.run(Adafruit_MotorHAT.RELEASE)
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# Configure all motors to stop at program exit if desired.
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if stop_at_exit:
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atexit.register(self.stop)
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def _left_speed(self, speed):
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"""Set the speed of the left motor, taking into account its trim offset.
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"""
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assert 0 <= speed <= 255, 'Speed must be a value between 0 to 255 inclusive!'
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speed += self._left_trim
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speed = max(0, min(255, speed)) # Constrain speed to 0-255 after trimming.
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self._left.setSpeed(speed)
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def _right_speed(self, speed):
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"""Set the speed of the right motor, taking into account its trim offset.
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"""
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assert 0 <= speed <= 255, 'Speed must be a value between 0 to 255 inclusive!'
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speed += self._right_trim
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speed = max(0, min(255, speed)) # Constrain speed to 0-255 after trimming.
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self._right.setSpeed(speed)
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def stop(self):
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"""Stop all movement."""
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self._left.run(Adafruit_MotorHAT.RELEASE)
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self._right.run(Adafruit_MotorHAT.RELEASE)
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def forward(self, speed, seconds=None):
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"""Move forward at the specified speed (0-255). Will start moving
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forward and return unless a seconds value is specified, in which
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case the robot will move forward for that amount of time and then stop.
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"""
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# Set motor speed and move both forward.
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self._left_speed(speed)
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self._right_speed(speed)
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self._left.run(Adafruit_MotorHAT.FORWARD)
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self._right.run(Adafruit_MotorHAT.FORWARD)
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# If an amount of time is specified, move for that time and then stop.
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if seconds is not None:
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time.sleep(seconds)
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self.stop()
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def backward(self, speed, seconds=None):
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"""Move backward at the specified speed (0-255). Will start moving
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backward and return unless a seconds value is specified, in which
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case the robot will move backward for that amount of time and then stop.
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"""
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# Set motor speed and move both backward.
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self._left_speed(speed)
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self._right_speed(speed)
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self._left.run(Adafruit_MotorHAT.BACKWARD)
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self._right.run(Adafruit_MotorHAT.BACKWARD)
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# If an amount of time is specified, move for that time and then stop.
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|
||||||
if seconds is not None:
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|
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time.sleep(seconds)
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|
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self.stop()
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|
||||||
def right(self, speed, seconds=None):
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|
||||||
"""Spin to the right at the specified speed. Will start spinning and
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|
||||||
return unless a seconds value is specified, in which case the robot will
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|
||||||
spin for that amount of time and then stop.
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|
||||||
"""
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|
||||||
# Set motor speed and move both forward.
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|
||||||
self._left_speed(speed)
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|
||||||
self._right_speed(speed)
|
|
||||||
self._left.run(Adafruit_MotorHAT.FORWARD)
|
|
||||||
self._right.run(Adafruit_MotorHAT.BACKWARD)
|
|
||||||
# If an amount of time is specified, move for that time and then stop.
|
|
||||||
if seconds is not None:
|
|
||||||
time.sleep(seconds)
|
|
||||||
self.stop()
|
|
||||||
|
|
||||||
def left(self, speed, seconds=None):
|
|
||||||
"""Spin to the left at the specified speed. Will start spinning and
|
|
||||||
return unless a seconds value is specified, in which case the robot will
|
|
||||||
spin for that amount of time and then stop.
|
|
||||||
"""
|
|
||||||
# Set motor speed and move both forward.
|
|
||||||
self._left_speed(speed)
|
|
||||||
self._right_speed(speed)
|
|
||||||
self._left.run(Adafruit_MotorHAT.BACKWARD)
|
|
||||||
self._right.run(Adafruit_MotorHAT.FORWARD)
|
|
||||||
# If an amount of time is specified, move for that time and then stop.
|
|
||||||
if seconds is not None:
|
|
||||||
time.sleep(seconds)
|
|
||||||
self.stop()
|
|
||||||
@@ -1,65 +0,0 @@
|
|||||||
# Simple two DC motor robot class usage example.
|
|
||||||
# Author: Tony DiCola
|
|
||||||
# License: MIT License https://opensource.org/licenses/MIT
|
|
||||||
import time
|
|
||||||
|
|
||||||
# Import the Robot.py file (must be in the same directory as this file!).
|
|
||||||
import Robot
|
|
||||||
|
|
||||||
|
|
||||||
# Set the trim offset for each motor (left and right). This is a value that
|
|
||||||
# will offset the speed of movement of each motor in order to make them both
|
|
||||||
# move at the same desired speed. Because there's no feedback the robot doesn't
|
|
||||||
# know how fast each motor is spinning and the robot can pull to a side if one
|
|
||||||
# motor spins faster than the other motor. To determine the trim values move the
|
|
||||||
# robot forward slowly (around 100 speed) and watch if it veers to the left or
|
|
||||||
# right. If it veers left then the _right_ motor is spinning faster so try
|
|
||||||
# setting RIGHT_TRIM to a small negative value, like -5, to slow down the right
|
|
||||||
# motor. Likewise if it veers right then adjust the _left_ motor trim to a small
|
|
||||||
# negative value. Increase or decrease the trim value until the bot moves
|
|
||||||
# straight forward/backward.
|
|
||||||
LEFT_TRIM = 0
|
|
||||||
RIGHT_TRIM = 0
|
|
||||||
|
|
||||||
|
|
||||||
# Create an instance of the robot with the specified trim values.
|
|
||||||
# Not shown are other optional parameters:
|
|
||||||
# - addr: The I2C address of the motor HAT, default is 0x60.
|
|
||||||
# - left_id: The ID of the left motor, default is 1.
|
|
||||||
# - right_id: The ID of the right motor, default is 2.
|
|
||||||
robot = Robot.Robot(left_trim=LEFT_TRIM, right_trim=RIGHT_TRIM)
|
|
||||||
|
|
||||||
# Now move the robot around!
|
|
||||||
# Each call below takes two parameters:
|
|
||||||
# - speed: The speed of the movement, a value from 0-255. The higher the value
|
|
||||||
# the faster the movement. You need to start with a value around 100
|
|
||||||
# to get enough torque to move the robot.
|
|
||||||
# - time (seconds): Amount of time to perform the movement. After moving for
|
|
||||||
# this amount of seconds the robot will stop. This parameter
|
|
||||||
# is optional and if not specified the robot will start moving
|
|
||||||
# forever.
|
|
||||||
robot.forward(150, 1.0) # Move forward at speed 150 for 1 second.
|
|
||||||
robot.left(200, 0.5) # Spin left at speed 200 for 0.5 seconds.
|
|
||||||
robot.forward(150, 1.0) # Repeat the same movement 3 times below...
|
|
||||||
robot.left(200, 0.5)
|
|
||||||
robot.forward(150, 1.0)
|
|
||||||
robot.left(200, 0.5)
|
|
||||||
robot.forward(150, 1.0)
|
|
||||||
robot.right(200, 0.5)
|
|
||||||
|
|
||||||
# Spin in place slowly for a few seconds.
|
|
||||||
robot.right(100) # No time is specified so the robot will start spinning forever.
|
|
||||||
time.sleep(2.0) # Pause for a few seconds while the robot spins (you could do
|
|
||||||
# other processing here though!).
|
|
||||||
robot.stop() # Stop the robot from moving.
|
|
||||||
|
|
||||||
# Now move backwards and spin right a few times.
|
|
||||||
robot.backward(150, 1.0)
|
|
||||||
robot.right(200, 0.5)
|
|
||||||
robot.backward(150, 1.0)
|
|
||||||
robot.right(200, 0.5)
|
|
||||||
robot.backward(150, 1.0)
|
|
||||||
robot.right(200, 0.5)
|
|
||||||
robot.backward(150, 1.0)
|
|
||||||
|
|
||||||
# That's it! Note that on exit the robot will automatically stop moving.
|
|
||||||
@@ -1,71 +0,0 @@
|
|||||||
#!/usr/bin/python
|
|
||||||
from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_StepperMotor
|
|
||||||
import time
|
|
||||||
import atexit
|
|
||||||
import threading
|
|
||||||
import random
|
|
||||||
|
|
||||||
# bottom hat is default address 0x60
|
|
||||||
bottomhat = Adafruit_MotorHAT(addr=0x60)
|
|
||||||
# top hat has A0 jumper closed, so its address 0x61
|
|
||||||
tophat = Adafruit_MotorHAT(addr=0x61)
|
|
||||||
|
|
||||||
# create empty threads (these will hold the stepper 1, 2 & 3 threads)
|
|
||||||
stepperThreads = [threading.Thread(), threading.Thread(), threading.Thread()]
|
|
||||||
|
|
||||||
# recommended for auto-disabling motors on shutdown!
|
|
||||||
def turnOffMotors():
|
|
||||||
tophat.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
|
|
||||||
tophat.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
|
|
||||||
tophat.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
|
|
||||||
tophat.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
|
|
||||||
bottomhat.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
|
|
||||||
bottomhat.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
|
|
||||||
bottomhat.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
|
|
||||||
bottomhat.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
|
|
||||||
|
|
||||||
atexit.register(turnOffMotors)
|
|
||||||
|
|
||||||
myStepper1 = bottomhat.getStepper(200, 1) # 200 steps/rev, motor port #1
|
|
||||||
myStepper2 = bottomhat.getStepper(200, 2) # 200 steps/rev, motor port #2
|
|
||||||
myStepper3 = tophat.getStepper(200, 1) # 200 steps/rev, motor port #1
|
|
||||||
|
|
||||||
myStepper1.setSpeed(60) # 60 RPM
|
|
||||||
myStepper2.setSpeed(30) # 30 RPM
|
|
||||||
myStepper3.setSpeed(15) # 15 RPM
|
|
||||||
|
|
||||||
# get a DC motor!
|
|
||||||
myMotor = tophat.getMotor(3)
|
|
||||||
# set the speed to start, from 0 (off) to 255 (max speed)
|
|
||||||
myMotor.setSpeed(150)
|
|
||||||
# turn on motor
|
|
||||||
myMotor.run(Adafruit_MotorHAT.FORWARD);
|
|
||||||
|
|
||||||
|
|
||||||
stepstyles = [Adafruit_MotorHAT.SINGLE, Adafruit_MotorHAT.DOUBLE, Adafruit_MotorHAT.INTERLEAVE]
|
|
||||||
steppers = [myStepper1, myStepper2, myStepper3]
|
|
||||||
|
|
||||||
def stepper_worker(stepper, numsteps, direction, style):
|
|
||||||
#print("Steppin!")
|
|
||||||
stepper.step(numsteps, direction, style)
|
|
||||||
#print("Done")
|
|
||||||
|
|
||||||
while (True):
|
|
||||||
for i in range(3):
|
|
||||||
if not stepperThreads[i].isAlive():
|
|
||||||
randomdir = random.randint(0, 1)
|
|
||||||
print("Stepper %d" % i),
|
|
||||||
if (randomdir == 0):
|
|
||||||
dir = Adafruit_MotorHAT.FORWARD
|
|
||||||
print("forward"),
|
|
||||||
else:
|
|
||||||
dir = Adafruit_MotorHAT.BACKWARD
|
|
||||||
print("backward"),
|
|
||||||
randomsteps = random.randint(10,50)
|
|
||||||
print("%d steps" % randomsteps)
|
|
||||||
stepperThreads[i] = threading.Thread(target=stepper_worker, args=(steppers[i], randomsteps, dir, stepstyles[random.randint(0,len(stepstyles)-1)],))
|
|
||||||
stepperThreads[i].start()
|
|
||||||
|
|
||||||
# also, lets switch around the DC motor!
|
|
||||||
myMotor.setSpeed(random.randint(0,255)) # random speed
|
|
||||||
#myMotor.run(random.randint(0,1)) # random forward/back
|
|
||||||
@@ -1,38 +0,0 @@
|
|||||||
#!/usr/bin/python
|
|
||||||
#import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_Stepper
|
|
||||||
from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_StepperMotor
|
|
||||||
|
|
||||||
import time
|
|
||||||
import atexit
|
|
||||||
|
|
||||||
# create a default object, no changes to I2C address or frequency
|
|
||||||
mh = Adafruit_MotorHAT()
|
|
||||||
|
|
||||||
# recommended for auto-disabling motors on shutdown!
|
|
||||||
def turnOffMotors():
|
|
||||||
mh.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
|
|
||||||
mh.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
|
|
||||||
mh.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
|
|
||||||
mh.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
|
|
||||||
|
|
||||||
atexit.register(turnOffMotors)
|
|
||||||
|
|
||||||
myStepper = mh.getStepper(200, 1) # 200 steps/rev, motor port #1
|
|
||||||
myStepper.setSpeed(30) # 30 RPM
|
|
||||||
|
|
||||||
while (True):
|
|
||||||
print("Single coil steps")
|
|
||||||
myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.SINGLE)
|
|
||||||
myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.SINGLE)
|
|
||||||
|
|
||||||
print("Double coil steps")
|
|
||||||
myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.DOUBLE)
|
|
||||||
myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.DOUBLE)
|
|
||||||
|
|
||||||
print("Interleaved coil steps")
|
|
||||||
myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.INTERLEAVE)
|
|
||||||
myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.INTERLEAVE)
|
|
||||||
|
|
||||||
print("Microsteps")
|
|
||||||
myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.MICROSTEP)
|
|
||||||
myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.MICROSTEP)
|
|
||||||
Reference in New Issue
Block a user