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Adafruit_MotorHAT/Adafruit_MotorHAT.py
Executable file
252
Adafruit_MotorHAT/Adafruit_MotorHAT.py
Executable file
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#!/usr/bin/python
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from Adafruit_PWM_Servo_Driver import PWM
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import time
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class Adafruit_StepperMotor:
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MICROSTEPS = 8
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MICROSTEP_CURVE = [0, 50, 98, 142, 180, 212, 236, 250, 255]
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#MICROSTEPS = 16
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# a sinusoidal curve NOT LINEAR!
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#MICROSTEP_CURVE = [0, 25, 50, 74, 98, 120, 141, 162, 180, 197, 212, 225, 236, 244, 250, 253, 255]
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def __init__(self, controller, num, steps=200):
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self.MC = controller
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self.revsteps = steps
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self.motornum = num
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self.sec_per_step = 0.1
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self.steppingcounter = 0
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self.currentstep = 0
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num -= 1
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if (num == 0):
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self.PWMA = 8
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self.AIN2 = 9
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self.AIN1 = 10
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self.PWMB = 13
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self.BIN2 = 12
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self.BIN1 = 11
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elif (num == 1):
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self.PWMA = 2
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self.AIN2 = 3
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self.AIN1 = 4
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self.PWMB = 7
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self.BIN2 = 6
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self.BIN1 = 5
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else:
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raise NameError('MotorHAT Stepper must be between 1 and 2 inclusive')
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def setSpeed(self, rpm):
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self.sec_per_step = 60.0 / (self.revsteps * rpm)
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self.steppingcounter = 0
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def oneStep(self, dir, style):
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pwm_a = pwm_b = 255
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# first determine what sort of stepping procedure we're up to
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if (style == Adafruit_MotorHAT.SINGLE):
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if ((self.currentstep/(self.MICROSTEPS/2)) % 2):
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# we're at an odd step, weird
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if (dir == Adafruit_MotorHAT.FORWARD):
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self.currentstep += self.MICROSTEPS/2
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else:
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self.currentstep -= self.MICROSTEPS/2
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else:
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# go to next even step
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if (dir == Adafruit_MotorHAT.FORWARD):
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self.currentstep += self.MICROSTEPS
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else:
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self.currentstep -= self.MICROSTEPS
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if (style == Adafruit_MotorHAT.DOUBLE):
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if not (self.currentstep/(self.MICROSTEPS/2) % 2):
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# we're at an even step, weird
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if (dir == Adafruit_MotorHAT.FORWARD):
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self.currentstep += self.MICROSTEPS/2
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else:
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self.currentstep -= self.MICROSTEPS/2
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else:
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# go to next odd step
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if (dir == Adafruit_MotorHAT.FORWARD):
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self.currentstep += self.MICROSTEPS
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else:
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self.currentstep -= self.MICROSTEPS
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if (style == Adafruit_MotorHAT.INTERLEAVE):
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if (dir == Adafruit_MotorHAT.FORWARD):
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self.currentstep += self.MICROSTEPS/2
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else:
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self.currentstep -= self.MICROSTEPS/2
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if (style == Adafruit_MotorHAT.MICROSTEP):
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if (dir == Adafruit_MotorHAT.FORWARD):
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self.currentstep += 1
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else:
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self.currentstep -= 1
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# go to next 'step' and wrap around
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self.currentstep += self.MICROSTEPS * 4
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self.currentstep %= self.MICROSTEPS * 4
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pwm_a = pwm_b = 0
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if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
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pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS - self.currentstep]
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pwm_b = self.MICROSTEP_CURVE[self.currentstep]
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elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
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pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS]
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pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*2 - self.currentstep]
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elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
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pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS*3 - self.currentstep]
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pwm_b = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*2]
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elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4):
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pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*3]
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pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*4 - self.currentstep]
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# go to next 'step' and wrap around
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self.currentstep += self.MICROSTEPS * 4
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self.currentstep %= self.MICROSTEPS * 4
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# only really used for microstepping, otherwise always on!
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self.MC._pwm.setPWM(self.PWMA, 0, pwm_a*16)
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self.MC._pwm.setPWM(self.PWMB, 0, pwm_b*16)
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# set up coil energizing!
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coils = [0, 0, 0, 0]
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if (style == Adafruit_MotorHAT.MICROSTEP):
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if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
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coils = [1, 1, 0, 0]
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elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
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coils = [0, 1, 1, 0]
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elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
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coils = [0, 0, 1, 1]
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elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4):
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coils = [1, 0, 0, 1]
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else:
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step2coils = [ [1, 0, 0, 0],
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[1, 1, 0, 0],
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[0, 1, 0, 0],
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[0, 1, 1, 0],
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[0, 0, 1, 0],
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[0, 0, 1, 1],
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[0, 0, 0, 1],
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[1, 0, 0, 1] ]
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coils = step2coils[self.currentstep/(self.MICROSTEPS/2)]
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#print "coils state = " + str(coils)
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self.MC.setPin(self.AIN2, coils[0])
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self.MC.setPin(self.BIN1, coils[1])
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self.MC.setPin(self.AIN1, coils[2])
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self.MC.setPin(self.BIN2, coils[3])
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return self.currentstep
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def step(self, steps, direction, stepstyle):
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s_per_s = self.sec_per_step
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lateststep = 0
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if (stepstyle == Adafruit_MotorHAT.INTERLEAVE):
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s_per_s = s_per_s / 2.0
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if (stepstyle == Adafruit_MotorHAT.MICROSTEP):
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s_per_s /= self.MICROSTEPS
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steps *= self.MICROSTEPS
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print s_per_s, " sec per step"
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for s in range(steps):
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lateststep = self.oneStep(direction, stepstyle)
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time.sleep(s_per_s)
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if (stepstyle == Adafruit_MotorHAT.MICROSTEP):
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# this is an edge case, if we are in between full steps, lets just keep going
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# so we end on a full step
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while (lateststep != 0) and (lateststep != self.MICROSTEPS):
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lateststep = self.oneStep(dir, stepstyle)
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time.sleep(s_per_s)
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class Adafruit_DCMotor:
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def __init__(self, controller, num):
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self.MC = controller
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self.motornum = num
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pwm = in1 = in2 = 0
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if (num == 0):
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pwm = 8
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in2 = 9
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in1 = 10
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elif (num == 1):
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pwm = 13
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in2 = 12
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in1 = 11
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elif (num == 2):
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pwm = 2
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in2 = 3
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in1 = 4
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elif (num == 3):
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pwm = 7
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in2 = 6
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in1 = 5
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else:
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raise NameError('MotorHAT Motor must be between 1 and 4 inclusive')
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self.PWMpin = pwm
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self.IN1pin = in1
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self.IN2pin = in2
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def run(self, command):
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if not self.MC:
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return
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if (command == Adafruit_MotorHAT.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 == Adafruit_MotorHAT.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 == Adafruit_MotorHAT.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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if (speed < 0):
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speed = 0
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if (speed > 255):
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speed = 255
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self.MC._pwm.setPWM(self.PWMpin, 0, speed*16)
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class Adafruit_MotorHAT:
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FORWARD = 1
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BACKWARD = 2
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BRAKE = 3
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RELEASE = 4
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SINGLE = 1
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DOUBLE = 2
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INTERLEAVE = 3
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MICROSTEP = 4
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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._frequency = freq # default @1600Hz PWM freq
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self.motors = [ Adafruit_DCMotor(self, m) for m in range(4) ]
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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.setPWMFreq(self._frequency)
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def setPin(self, pin, value):
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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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if (value != 0) and (value != 1):
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raise NameError('Pin value must be 0 or 1!')
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if (value == 0):
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self._pwm.setPWM(pin, 0, 4096)
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if (value == 1):
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self._pwm.setPWM(pin, 4096, 0)
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def getStepper(self, steps, num):
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if (num < 1) or (num > 2):
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raise NameError('MotorHAT Stepper must be between 1 and 2 inclusive')
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return self.steppers[num-1]
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def getMotor(self, num):
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if (num < 1) or (num > 4):
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raise NameError('MotorHAT Motor must be between 1 and 4 inclusive')
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return self.motors[num-1]
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92
Adafruit_MotorHAT/Adafruit_PWM_Servo_Driver.py
Normal file
92
Adafruit_MotorHAT/Adafruit_PWM_Servo_Driver.py
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#!/usr/bin/python
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import time
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import math
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from Adafruit_I2C import Adafruit_I2C
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# ============================================================================
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# Adafruit PCA9685 16-Channel PWM Servo Driver
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# ============================================================================
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class PWM :
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# Registers/etc.
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__MODE1 = 0x00
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__MODE2 = 0x01
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__SUBADR1 = 0x02
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__SUBADR2 = 0x03
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__SUBADR3 = 0x04
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__PRESCALE = 0xFE
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__LED0_ON_L = 0x06
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__LED0_ON_H = 0x07
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__LED0_OFF_L = 0x08
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__LED0_OFF_H = 0x09
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__ALL_LED_ON_L = 0xFA
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__ALL_LED_ON_H = 0xFB
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__ALL_LED_OFF_L = 0xFC
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__ALL_LED_OFF_H = 0xFD
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# Bits
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__RESTART = 0x80
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__SLEEP = 0x10
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__ALLCALL = 0x01
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__INVRT = 0x10
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__OUTDRV = 0x04
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general_call_i2c = Adafruit_I2C(0x00)
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@classmethod
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def softwareReset(cls):
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"Sends a software reset (SWRST) command to all the servo drivers on the bus"
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cls.general_call_i2c.writeRaw8(0x06) # SWRST
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def __init__(self, address=0x40, debug=False):
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self.i2c = Adafruit_I2C(address)
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self.i2c.debug = debug
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self.address = address
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self.debug = debug
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if (self.debug):
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print "Reseting PCA9685 MODE1 (without SLEEP) and MODE2"
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self.setAllPWM(0, 0)
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self.i2c.write8(self.__MODE2, self.__OUTDRV)
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self.i2c.write8(self.__MODE1, self.__ALLCALL)
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time.sleep(0.005) # wait for oscillator
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mode1 = self.i2c.readU8(self.__MODE1)
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mode1 = mode1 & ~self.__SLEEP # wake up (reset sleep)
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self.i2c.write8(self.__MODE1, mode1)
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time.sleep(0.005) # wait for oscillator
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def setPWMFreq(self, freq):
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"Sets the PWM frequency"
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prescaleval = 25000000.0 # 25MHz
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prescaleval /= 4096.0 # 12-bit
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prescaleval /= float(freq)
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prescaleval -= 1.0
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if (self.debug):
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print "Setting PWM frequency to %d Hz" % freq
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print "Estimated pre-scale: %d" % prescaleval
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prescale = math.floor(prescaleval + 0.5)
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if (self.debug):
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print "Final pre-scale: %d" % prescale
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oldmode = self.i2c.readU8(self.__MODE1);
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newmode = (oldmode & 0x7F) | 0x10 # sleep
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self.i2c.write8(self.__MODE1, newmode) # go to sleep
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self.i2c.write8(self.__PRESCALE, int(math.floor(prescale)))
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self.i2c.write8(self.__MODE1, oldmode)
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time.sleep(0.005)
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self.i2c.write8(self.__MODE1, oldmode | 0x80)
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def setPWM(self, channel, on, off):
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"Sets a single PWM channel"
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self.i2c.write8(self.__LED0_ON_L+4*channel, on & 0xFF)
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self.i2c.write8(self.__LED0_ON_H+4*channel, on >> 8)
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self.i2c.write8(self.__LED0_OFF_L+4*channel, off & 0xFF)
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self.i2c.write8(self.__LED0_OFF_H+4*channel, off >> 8)
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def setAllPWM(self, on, off):
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"Sets a all PWM channels"
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self.i2c.write8(self.__ALL_LED_ON_L, on & 0xFF)
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self.i2c.write8(self.__ALL_LED_ON_H, on >> 8)
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self.i2c.write8(self.__ALL_LED_OFF_L, off & 0xFF)
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self.i2c.write8(self.__ALL_LED_OFF_H, off >> 8)
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