stepper library testing
This commit is contained in:
shrkey
@@ -5,194 +5,200 @@ from PCA9685 import PCA9685
|
|||||||
import time
|
import time
|
||||||
import math
|
import math
|
||||||
|
|
||||||
# class dw_Stepper:
|
class dw_Stepper:
|
||||||
# MICROSTEPS = 8
|
MICROSTEPS = 8
|
||||||
# MICROSTEP_CURVE = [0, 50, 98, 142, 180, 212, 236, 250, 255]
|
MICROSTEP_CURVE = [0, 50, 98, 142, 180, 212, 236, 250, 255]
|
||||||
|
|
||||||
# #MICROSTEPS = 16
|
#MICROSTEPS = 16
|
||||||
# # a sinusoidal curve NOT LINEAR!
|
# a sinusoidal curve NOT LINEAR!
|
||||||
# #MICROSTEP_CURVE = [0, 25, 50, 74, 98, 120, 141, 162, 180, 197, 212, 225, 236, 244, 250, 253, 255]
|
#MICROSTEP_CURVE = [0, 25, 50, 74, 98, 120, 141, 162, 180, 197, 212, 225, 236, 244, 250, 253, 255]
|
||||||
|
|
||||||
# def __init__(self, controller, num, steps=200):
|
def __init__(self, controller, num, steps=200):
|
||||||
# self.speed = 0
|
self.speed = 0
|
||||||
# self.MC = controller
|
self.MC = controller
|
||||||
# self.motornum = num
|
self.motornum = num
|
||||||
# modepin = in1 = in2 = 0
|
modepin = in1 = in2 = 0
|
||||||
|
|
||||||
# self.revsteps = steps
|
self.revsteps = steps
|
||||||
# self.sec_per_step = 0.1
|
self.sec_per_step = 0.1
|
||||||
# self.steppingcounter = 0
|
self.steppingcounter = 0
|
||||||
# self.currentstep = 0
|
self.currentstep = 0
|
||||||
|
|
||||||
# if (num == 0):
|
if (num == 0):
|
||||||
# ain2 = 2 #phase
|
ain2 = 2 #phase
|
||||||
# ain1 = 3 #enable
|
ain1 = 3 #enable
|
||||||
# bin2 = 4 #phase
|
bin2 = 4 #phase
|
||||||
# bin1 = 5 #enable
|
bin1 = 5 #enable
|
||||||
# elif (num == 1):
|
elif (num == 1):
|
||||||
# ain2 = 6 #phase
|
ain2 = 6 #phase
|
||||||
# ain1 = 7 #enable
|
ain1 = 7 #enable
|
||||||
# bin2 = 8 #phase
|
bin2 = 8 #phase
|
||||||
# bin1 = 9 #enable
|
bin1 = 9 #enable
|
||||||
# elif (num == 2):
|
elif (num == 2):
|
||||||
# ain2 = 10 #phase
|
ain2 = 10 #phase
|
||||||
# ain1 = 11 #enable
|
ain1 = 11 #enable
|
||||||
# bin2 = 12 #phase
|
bin2 = 12 #phase
|
||||||
# bin1 = 13 #enable
|
bin1 = 13 #enable
|
||||||
# else:
|
else:
|
||||||
# raise NameError('MotorHAT Stepper must be between 1 and 3 inclusive')
|
raise NameError('MotorHAT Stepper must be between 1 and 3 inclusive')
|
||||||
|
|
||||||
# self.PHpinA = ain2
|
self.PHpinA = ain2
|
||||||
# self.ENpinA = ain1
|
self.ENpinA = ain1
|
||||||
# self.PHpinB = bin2
|
self.PHpinB = bin2
|
||||||
# self.ENpinB = bin1
|
self.ENpinB = bin1
|
||||||
# # switch off both drivers
|
|
||||||
# self.run(dw_Controller.RELEASE, 0)
|
|
||||||
|
|
||||||
# def run(self, command, speed = 0):
|
# switch off both drivers
|
||||||
# if not self.MC:
|
self.run(dw_Controller.RELEASE, 0)
|
||||||
# return
|
|
||||||
# if (command == dw_Controller.FORWARD):
|
|
||||||
# self.MC.setPin(self.PHpin, 0)
|
|
||||||
# self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
|
|
||||||
# if (command == dw_Controller.BACKWARD):
|
|
||||||
# self.MC.setPin(self.PHpin, 1)
|
|
||||||
# self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
|
|
||||||
# if (command == dw_Controller.RELEASE):
|
|
||||||
# self.MC.setPin(self.PHpinA, 0)
|
|
||||||
# self.MC.setPin(self.ENpinA, 0)
|
|
||||||
# self.MC.setPin(self.PHpinB, 0)
|
|
||||||
# self.MC.setPin(self.ENpinB, 0)
|
|
||||||
|
|
||||||
# def off(self):
|
def run(self, command, speed = 0):
|
||||||
# self.run(dw_Controller.RELEASE, 0)
|
if not self.MC:
|
||||||
|
return
|
||||||
|
if (command == dw_Controller.FORWARD):
|
||||||
|
self.MC.setPin(self.PHpin, 0)
|
||||||
|
self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
|
||||||
|
if (command == dw_Controller.BACKWARD):
|
||||||
|
self.MC.setPin(self.PHpin, 1)
|
||||||
|
self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
|
||||||
|
if (command == dw_Controller.RELEASE):
|
||||||
|
self.MC.setPin(self.PHpinA, 0)
|
||||||
|
self.MC.setPin(self.ENpinA, 0)
|
||||||
|
self.MC.setPin(self.PHpinB, 0)
|
||||||
|
self.MC.setPin(self.ENpinB, 0)
|
||||||
|
|
||||||
# def setSpeed(self, rpm):
|
def off(self):
|
||||||
# self.sec_per_step = 60.0 / (self.revsteps * rpm)
|
self.run(dw_Controller.RELEASE, 0)
|
||||||
# self.steppingcounter = 0
|
|
||||||
|
|
||||||
# def oneStep(self, dir, style):
|
def setSpeed(self, rpm):
|
||||||
# pwm_a = pwm_b = 255
|
self.sec_per_step = 60.0 / (self.revsteps * rpm)
|
||||||
|
self.steppingcounter = 0
|
||||||
|
|
||||||
# # first determine what sort of stepping procedure we're up to
|
def oneStep(self, dir, style):
|
||||||
# if (style == dw_Controller.SINGLE):
|
pwm_a = pwm_b = 255
|
||||||
# if ((self.currentstep/(self.MICROSTEPS/2)) % 2):
|
|
||||||
# # we're at an odd step, weird
|
|
||||||
# if (dir == dw_Controller.FORWARD):
|
|
||||||
# self.currentstep += self.MICROSTEPS/2
|
|
||||||
# else:
|
|
||||||
# self.currentstep -= self.MICROSTEPS/2
|
|
||||||
# else:
|
|
||||||
# # go to next even step
|
|
||||||
# if (dir == dw_Controller.FORWARD):
|
|
||||||
# self.currentstep += self.MICROSTEPS
|
|
||||||
# else:
|
|
||||||
# self.currentstep -= self.MICROSTEPS
|
|
||||||
# if (style == dw_Controller.DOUBLE):
|
|
||||||
# if not (self.currentstep/(self.MICROSTEPS/2) % 2):
|
|
||||||
# # we're at an even step, weird
|
|
||||||
# if (dir == dw_Controller.FORWARD):
|
|
||||||
# self.currentstep += self.MICROSTEPS/2
|
|
||||||
# else:
|
|
||||||
# self.currentstep -= self.MICROSTEPS/2
|
|
||||||
# else:
|
|
||||||
# # go to next odd step
|
|
||||||
# if (dir == dw_Controller.FORWARD):
|
|
||||||
# self.currentstep += self.MICROSTEPS
|
|
||||||
# else:
|
|
||||||
# self.currentstep -= self.MICROSTEPS
|
|
||||||
# if (style == dw_Controller.INTERLEAVE):
|
|
||||||
# if (dir == dw_Controller.FORWARD):
|
|
||||||
# self.currentstep += self.MICROSTEPS/2
|
|
||||||
# else:
|
|
||||||
# self.currentstep -= self.MICROSTEPS/2
|
|
||||||
|
|
||||||
# if (style == dw_Controller.MICROSTEP):
|
# first determine what sort of stepping procedure we're up to
|
||||||
# if (dir == dw_Controller.FORWARD):
|
if (style == dw_Controller.SINGLE):
|
||||||
# self.currentstep += 1
|
if ((self.currentstep/(self.MICROSTEPS/2)) % 2):
|
||||||
# else:
|
# we're at an odd step, weird
|
||||||
# self.currentstep -= 1
|
if (dir == dw_Controller.FORWARD):
|
||||||
|
self.currentstep += self.MICROSTEPS/2
|
||||||
|
else:
|
||||||
|
self.currentstep -= self.MICROSTEPS/2
|
||||||
|
else:
|
||||||
|
# go to next even step
|
||||||
|
if (dir == dw_Controller.FORWARD):
|
||||||
|
self.currentstep += self.MICROSTEPS
|
||||||
|
else:
|
||||||
|
self.currentstep -= self.MICROSTEPS
|
||||||
|
if (style == dw_Controller.DOUBLE):
|
||||||
|
if not (self.currentstep/(self.MICROSTEPS/2) % 2):
|
||||||
|
# we're at an even step, weird
|
||||||
|
if (dir == dw_Controller.FORWARD):
|
||||||
|
self.currentstep += self.MICROSTEPS/2
|
||||||
|
else:
|
||||||
|
self.currentstep -= self.MICROSTEPS/2
|
||||||
|
else:
|
||||||
|
# go to next odd step
|
||||||
|
if (dir == dw_Controller.FORWARD):
|
||||||
|
self.currentstep += self.MICROSTEPS
|
||||||
|
else:
|
||||||
|
self.currentstep -= self.MICROSTEPS
|
||||||
|
if (style == dw_Controller.INTERLEAVE):
|
||||||
|
if (dir == dw_Controller.FORWARD):
|
||||||
|
self.currentstep += self.MICROSTEPS/2
|
||||||
|
else:
|
||||||
|
self.currentstep -= self.MICROSTEPS/2
|
||||||
|
|
||||||
# # go to next 'step' and wrap around
|
if (style == dw_Controller.MICROSTEP):
|
||||||
# self.currentstep += self.MICROSTEPS * 4
|
if (dir == dw_Controller.FORWARD):
|
||||||
# self.currentstep %= self.MICROSTEPS * 4
|
self.currentstep += 1
|
||||||
|
else:
|
||||||
|
self.currentstep -= 1
|
||||||
|
|
||||||
# pwm_a = pwm_b = 0
|
# go to next 'step' and wrap around
|
||||||
# if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
|
self.currentstep += self.MICROSTEPS * 4
|
||||||
# pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS - self.currentstep]
|
self.currentstep %= self.MICROSTEPS * 4
|
||||||
# pwm_b = self.MICROSTEP_CURVE[self.currentstep]
|
|
||||||
# elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
|
pwm_a = pwm_b = 0
|
||||||
# pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS]
|
if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
|
||||||
# pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*2 - self.currentstep]
|
pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS - self.currentstep]
|
||||||
# elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
|
pwm_b = self.MICROSTEP_CURVE[self.currentstep]
|
||||||
# pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS*3 - self.currentstep]
|
elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
|
||||||
# pwm_b = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*2]
|
pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS]
|
||||||
# elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4):
|
pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*2 - self.currentstep]
|
||||||
# pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*3]
|
elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
|
||||||
# pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*4 - self.currentstep]
|
pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS*3 - self.currentstep]
|
||||||
|
pwm_b = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*2]
|
||||||
|
elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4):
|
||||||
|
pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*3]
|
||||||
|
pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*4 - self.currentstep]
|
||||||
|
|
||||||
|
|
||||||
# # go to next 'step' and wrap around
|
# go to next 'step' and wrap around
|
||||||
# self.currentstep += self.MICROSTEPS * 4
|
self.currentstep += self.MICROSTEPS * 4
|
||||||
# self.currentstep %= self.MICROSTEPS * 4
|
self.currentstep %= self.MICROSTEPS * 4
|
||||||
|
|
||||||
# # only really used for microstepping, otherwise always on!
|
# only really used for microstepping, otherwise always on!
|
||||||
# self.MC._pwm.setPWM(self.PWMA, 0, pwm_a*16)
|
self.MC._pwm.setPWM(self.PWMA, 0, pwm_a*16)
|
||||||
# self.MC._pwm.setPWM(self.PWMB, 0, pwm_b*16)
|
self.MC._pwm.setPWM(self.PWMB, 0, pwm_b*16)
|
||||||
|
|
||||||
# # set up coil energizing!
|
# set up coil energizing!
|
||||||
# coils = [0, 0, 0, 0]
|
coils = [0, 0, 0, 0]
|
||||||
|
|
||||||
# if (style == dw_Controller.MICROSTEP):
|
if (style == dw_Controller.MICROSTEP):
|
||||||
# if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
|
if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
|
||||||
# coils = [1, 1, 0, 0]
|
coils = [1, 1, 0, 0]
|
||||||
# elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
|
elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
|
||||||
# coils = [0, 1, 1, 0]
|
coils = [0, 1, 1, 0]
|
||||||
# elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
|
elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
|
||||||
# coils = [0, 0, 1, 1]
|
coils = [0, 0, 1, 1]
|
||||||
# elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4):
|
elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4):
|
||||||
# coils = [1, 0, 0, 1]
|
coils = [1, 0, 0, 1]
|
||||||
# else:
|
else:
|
||||||
# step2coils = [ [1, 0, 0, 0],
|
step2coils = [ [1, 0, 0, 0],
|
||||||
# [1, 1, 0, 0],
|
[1, 1, 0, 0],
|
||||||
# [0, 1, 0, 0],
|
[0, 1, 0, 0],
|
||||||
# [0, 1, 1, 0],
|
[0, 1, 1, 0],
|
||||||
# [0, 0, 1, 0],
|
[0, 0, 1, 0],
|
||||||
# [0, 0, 1, 1],
|
[0, 0, 1, 1],
|
||||||
# [0, 0, 0, 1],
|
[0, 0, 0, 1],
|
||||||
# [1, 0, 0, 1] ]
|
[1, 0, 0, 1] ]
|
||||||
# coils = step2coils[self.currentstep/(self.MICROSTEPS/2)]
|
coils = step2coils[self.currentstep/(self.MICROSTEPS/2)]
|
||||||
|
|
||||||
# #print "coils state = " + str(coils)
|
#print "coils state = " + str(coils)
|
||||||
# self.MC.setPin(self.AIN2, coils[0])
|
self.MC.setPin(self.PHpinA, coils[0]) #ain2
|
||||||
# self.MC.setPin(self.BIN1, coils[1])
|
self.MC.setPin(self.ENpinB, coils[1]) #bin1
|
||||||
# self.MC.setPin(self.AIN1, coils[2])
|
self.MC.setPin(self.ENpinA, coils[2]) #ain1
|
||||||
# self.MC.setPin(self.BIN2, coils[3])
|
self.MC.setPin(self.PHpinB, coils[3]) #bin2
|
||||||
|
|
||||||
# return self.currentstep
|
#self.PHpinA = ain2
|
||||||
|
# self.ENpinA = ain1
|
||||||
|
# self.PHpinB = bin2
|
||||||
|
# self.ENpinB = bin1
|
||||||
|
|
||||||
# def step(self, steps, direction, stepstyle):
|
return self.currentstep
|
||||||
# s_per_s = self.sec_per_step
|
|
||||||
# lateststep = 0
|
|
||||||
|
|
||||||
# if (stepstyle == dw_Controller.INTERLEAVE):
|
def step(self, steps, direction, stepstyle):
|
||||||
# s_per_s = s_per_s / 2.0
|
s_per_s = self.sec_per_step
|
||||||
# if (stepstyle == dw_Controller.MICROSTEP):
|
lateststep = 0
|
||||||
# s_per_s /= self.MICROSTEPS
|
|
||||||
# steps *= self.MICROSTEPS
|
|
||||||
|
|
||||||
# print s_per_s, " sec per step"
|
if (stepstyle == dw_Controller.INTERLEAVE):
|
||||||
|
s_per_s = s_per_s / 2.0
|
||||||
|
if (stepstyle == dw_Controller.MICROSTEP):
|
||||||
|
s_per_s /= self.MICROSTEPS
|
||||||
|
steps *= self.MICROSTEPS
|
||||||
|
|
||||||
# for s in range(steps):
|
print s_per_s, " sec per step"
|
||||||
# lateststep = self.oneStep(direction, stepstyle)
|
|
||||||
# time.sleep(s_per_s)
|
|
||||||
|
|
||||||
# if (stepstyle == dw_Controller.MICROSTEP):
|
for s in range(steps):
|
||||||
# # this is an edge case, if we are in between full steps, lets just keep going
|
lateststep = self.oneStep(direction, stepstyle)
|
||||||
# # so we end on a full step
|
time.sleep(s_per_s)
|
||||||
# while (lateststep != 0) and (lateststep != self.MICROSTEPS):
|
|
||||||
# lateststep = self.oneStep(dir, stepstyle)
|
if (stepstyle == dw_Controller.MICROSTEP):
|
||||||
# time.sleep(s_per_s)
|
# this is an edge case, if we are in between full steps, lets just keep going
|
||||||
|
# so we end on a full step
|
||||||
|
while (lateststep != 0) and (lateststep != self.MICROSTEPS):
|
||||||
|
lateststep = self.oneStep(dir, stepstyle)
|
||||||
|
time.sleep(s_per_s)
|
||||||
|
|
||||||
class dw_Motor:
|
class dw_Motor:
|
||||||
def __init__(self, controller, num):
|
def __init__(self, controller, num):
|
||||||
@@ -333,12 +339,13 @@ class dw_Controller:
|
|||||||
GPIO.setmode(GPIO.BCM)
|
GPIO.setmode(GPIO.BCM)
|
||||||
GPIO.setwarnings(False)
|
GPIO.setwarnings(False)
|
||||||
GPIO.setup(27, GPIO.OUT)
|
GPIO.setup(27, GPIO.OUT)
|
||||||
GPIO.output(27, GPIO.HIGH) # set for en/phase mode - low = in/in mode
|
#GPIO.output(27, GPIO.HIGH) # set for en/phase mode - low = in/in mode
|
||||||
|
GPIO.output(27, GPIO.LOW) # set for en/phase mode - low = in/in mode
|
||||||
|
|
||||||
self.motors = [ dw_Motor(self, m) for m in range(6) ]
|
self.motors = [ dw_Motor(self, m) for m in range(6) ]
|
||||||
self.servos = [ dw_Servo(self, m, freq) for m in range(2) ]
|
self.servos = [ dw_Servo(self, m, freq) for m in range(2) ]
|
||||||
|
|
||||||
#self.steppers = [ dw_Stepper(self, m) for m in range(3) ]
|
self.steppers = [ dw_Stepper(self, m) for m in range(3) ]
|
||||||
|
|
||||||
def setPin(self, pin, value):
|
def setPin(self, pin, value):
|
||||||
if (pin < 0) or (pin > 15):
|
if (pin < 0) or (pin > 15):
|
||||||
|
|||||||
Reference in New Issue
Block a user