init

examples/DualStepperTest.py

@@ -0,0 +1,67 @@
+#!/usr/bin/python
+from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_StepperMotor
+import time
+import atexit
+import threading
+import random
+
+# create a default object, no changes to I2C address or frequency
+mh = Adafruit_MotorHAT()
+
+# create empty threads (these will hold the stepper 1 and 2 threads)
+st1 = threading.Thread()
+st2 = threading.Thread()
+
+
+# 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)
+
+myStepper1 = mh.getStepper(200, 1)  	# 200 steps/rev, motor port #1
+myStepper2 = mh.getStepper(200, 2)  	# 200 steps/rev, motor port #1
+myStepper1.setSpeed(60)  		# 30 RPM
+myStepper2.setSpeed(60)  		# 30 RPM
+
+
+stepstyles = [Adafruit_MotorHAT.SINGLE, Adafruit_MotorHAT.DOUBLE, Adafruit_MotorHAT.INTERLEAVE, Adafruit_MotorHAT.MICROSTEP]
+
+def stepper_worker(stepper, numsteps, direction, style):
+	#print("Steppin!")
+	stepper.step(numsteps, direction, style)
+	#print("Done")
+
+while (True):
+	if not st1.isAlive():
+		randomdir = random.randint(0, 1)
+		print("Stepper 1"),
+		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)
+		st1 = threading.Thread(target=stepper_worker, args=(myStepper1, randomsteps, dir, stepstyles[random.randint(0,3)],))
+		st1.start()
+
+	if not st2.isAlive():
+		print("Stepper 2"),
+		randomdir = random.randint(0, 1)
+		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)
+
+		st2 = threading.Thread(target=stepper_worker, args=(myStepper2, randomsteps, dir, stepstyles[random.randint(0,3)],))
+		st2.start()