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62
examples/DCTest.py
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62
examples/DCTest.py
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#!/usr/bin/python
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#import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_Stepper
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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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# create a default object, no changes to I2C address or frequency
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mh = Adafruit_MotorHAT(addr=0x61)
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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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67
examples/DualStepperTest.py
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examples/DualStepperTest.py
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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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71
examples/StackingTest.py
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71
examples/StackingTest.py
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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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# bottom hat is default address 0x60
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bottomhat = Adafruit_MotorHAT(addr=0x60)
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# top hat has A0 jumper closed, so its address 0x61
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tophat = Adafruit_MotorHAT(addr=0x61)
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# create empty threads (these will hold the stepper 1, 2 & 3 threads)
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stepperThreads = [threading.Thread(), threading.Thread(), threading.Thread()]
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# recommended for auto-disabling motors on shutdown!
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def turnOffMotors():
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tophat.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
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tophat.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
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tophat.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
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tophat.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
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bottomhat.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
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bottomhat.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
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bottomhat.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
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bottomhat.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
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atexit.register(turnOffMotors)
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myStepper1 = bottomhat.getStepper(200, 1) # 200 steps/rev, motor port #1
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myStepper2 = bottomhat.getStepper(200, 2) # 200 steps/rev, motor port #2
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myStepper3 = tophat.getStepper(200, 1) # 200 steps/rev, motor port #1
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myStepper1.setSpeed(60) # 60 RPM
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myStepper2.setSpeed(30) # 30 RPM
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myStepper3.setSpeed(15) # 15 RPM
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# get a DC motor!
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myMotor = tophat.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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# turn on motor
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myMotor.run(Adafruit_MotorHAT.FORWARD);
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stepstyles = [Adafruit_MotorHAT.SINGLE, Adafruit_MotorHAT.DOUBLE, Adafruit_MotorHAT.INTERLEAVE]
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steppers = [myStepper1, myStepper2, myStepper3]
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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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for i in range(3):
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if not stepperThreads[i].isAlive():
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randomdir = random.randint(0, 1)
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print("Stepper %d" % i),
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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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stepperThreads[i] = threading.Thread(target=stepper_worker, args=(steppers[i], randomsteps, dir, stepstyles[random.randint(0,len(stepstyles)-1)],))
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stepperThreads[i].start()
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# also, lets switch around the DC motor!
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myMotor.setSpeed(random.randint(0,255)) # random speed
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#myMotor.run(random.randint(0,1)) # random forward/back
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38
examples/StepperTest.py
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38
examples/StepperTest.py
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#!/usr/bin/python
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#import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_Stepper
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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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# create a default object, no changes to I2C address or frequency
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mh = Adafruit_MotorHAT()
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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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myStepper = mh.getStepper(200, 2) # 200 steps/rev, motor port #1
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myStepper.setSpeed(30) # 30 RPM
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while (True):
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print("Single coil steps")
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myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.SINGLE)
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myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.SINGLE)
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print("Double coil steps")
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myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.DOUBLE)
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myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.DOUBLE)
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print("Interleaved coil steps")
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myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.INTERLEAVE)
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myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.INTERLEAVE)
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print("Microsteps")
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myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.MICROSTEP)
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myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.MICROSTEP)
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