stepper library testing
This commit is contained in:
shrkey
@@ -5,194 +5,200 @@ from PCA9685 import PCA9685
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import time
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import math
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# class dw_Stepper:
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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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class dw_Stepper:
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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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#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.speed = 0
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# self.MC = controller
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# self.motornum = num
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# modepin = in1 = in2 = 0
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def __init__(self, controller, num, steps=200):
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self.speed = 0
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self.MC = controller
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self.motornum = num
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modepin = in1 = in2 = 0
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# self.revsteps = steps
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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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self.revsteps = steps
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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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# if (num == 0):
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# ain2 = 2 #phase
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# ain1 = 3 #enable
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# bin2 = 4 #phase
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# bin1 = 5 #enable
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# elif (num == 1):
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# ain2 = 6 #phase
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# ain1 = 7 #enable
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# bin2 = 8 #phase
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# bin1 = 9 #enable
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# elif (num == 2):
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# ain2 = 10 #phase
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# ain1 = 11 #enable
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# bin2 = 12 #phase
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# bin1 = 13 #enable
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# else:
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# raise NameError('MotorHAT Stepper must be between 1 and 3 inclusive')
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if (num == 0):
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ain2 = 2 #phase
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ain1 = 3 #enable
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bin2 = 4 #phase
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bin1 = 5 #enable
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elif (num == 1):
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ain2 = 6 #phase
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ain1 = 7 #enable
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bin2 = 8 #phase
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bin1 = 9 #enable
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elif (num == 2):
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ain2 = 10 #phase
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ain1 = 11 #enable
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bin2 = 12 #phase
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bin1 = 13 #enable
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else:
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raise NameError('MotorHAT Stepper must be between 1 and 3 inclusive')
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# self.PHpinA = ain2
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# self.ENpinA = ain1
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# self.PHpinB = bin2
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# self.ENpinB = bin1
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# # switch off both drivers
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# self.run(dw_Controller.RELEASE, 0)
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self.PHpinA = ain2
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self.ENpinA = ain1
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self.PHpinB = bin2
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self.ENpinB = bin1
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# def run(self, command, speed = 0):
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# if not self.MC:
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# return
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# if (command == dw_Controller.FORWARD):
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# self.MC.setPin(self.PHpin, 0)
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# self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
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# if (command == dw_Controller.BACKWARD):
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# self.MC.setPin(self.PHpin, 1)
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# self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
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# if (command == dw_Controller.RELEASE):
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# self.MC.setPin(self.PHpinA, 0)
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# self.MC.setPin(self.ENpinA, 0)
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# self.MC.setPin(self.PHpinB, 0)
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# self.MC.setPin(self.ENpinB, 0)
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# switch off both drivers
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self.run(dw_Controller.RELEASE, 0)
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# def off(self):
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# self.run(dw_Controller.RELEASE, 0)
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def run(self, command, speed = 0):
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if not self.MC:
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return
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if (command == dw_Controller.FORWARD):
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self.MC.setPin(self.PHpin, 0)
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self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
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if (command == dw_Controller.BACKWARD):
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self.MC.setPin(self.PHpin, 1)
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self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
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if (command == dw_Controller.RELEASE):
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self.MC.setPin(self.PHpinA, 0)
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self.MC.setPin(self.ENpinA, 0)
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self.MC.setPin(self.PHpinB, 0)
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self.MC.setPin(self.ENpinB, 0)
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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 off(self):
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self.run(dw_Controller.RELEASE, 0)
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# def oneStep(self, dir, style):
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# pwm_a = pwm_b = 255
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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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# # first determine what sort of stepping procedure we're up to
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# if (style == dw_Controller.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 == dw_Controller.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 == dw_Controller.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 == dw_Controller.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 == dw_Controller.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 == dw_Controller.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 == dw_Controller.INTERLEAVE):
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# if (dir == dw_Controller.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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def oneStep(self, dir, style):
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pwm_a = pwm_b = 255
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# if (style == dw_Controller.MICROSTEP):
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# if (dir == dw_Controller.FORWARD):
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# self.currentstep += 1
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# else:
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# self.currentstep -= 1
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# first determine what sort of stepping procedure we're up to
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if (style == dw_Controller.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 == dw_Controller.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 == dw_Controller.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 == dw_Controller.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 == dw_Controller.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 == dw_Controller.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 == dw_Controller.INTERLEAVE):
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if (dir == dw_Controller.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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# # 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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if (style == dw_Controller.MICROSTEP):
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if (dir == dw_Controller.FORWARD):
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self.currentstep += 1
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else:
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self.currentstep -= 1
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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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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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# 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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# 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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# set up coil energizing!
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coils = [0, 0, 0, 0]
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# if (style == dw_Controller.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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if (style == dw_Controller.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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#print "coils state = " + str(coils)
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self.MC.setPin(self.PHpinA, coils[0]) #ain2
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self.MC.setPin(self.ENpinB, coils[1]) #bin1
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self.MC.setPin(self.ENpinA, coils[2]) #ain1
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self.MC.setPin(self.PHpinB, coils[3]) #bin2
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# return self.currentstep
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#self.PHpinA = ain2
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# self.ENpinA = ain1
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# self.PHpinB = bin2
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# self.ENpinB = bin1
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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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return self.currentstep
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# if (stepstyle == dw_Controller.INTERLEAVE):
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# s_per_s = s_per_s / 2.0
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# if (stepstyle == dw_Controller.MICROSTEP):
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# s_per_s /= self.MICROSTEPS
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# steps *= self.MICROSTEPS
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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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# print s_per_s, " sec per step"
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if (stepstyle == dw_Controller.INTERLEAVE):
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s_per_s = s_per_s / 2.0
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if (stepstyle == dw_Controller.MICROSTEP):
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s_per_s /= self.MICROSTEPS
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steps *= self.MICROSTEPS
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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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print s_per_s, " sec per step"
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# if (stepstyle == dw_Controller.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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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 == dw_Controller.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 dw_Motor:
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def __init__(self, controller, num):
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@@ -333,12 +339,13 @@ class dw_Controller:
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GPIO.setmode(GPIO.BCM)
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GPIO.setwarnings(False)
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GPIO.setup(27, GPIO.OUT)
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GPIO.output(27, GPIO.HIGH) # set for en/phase mode - low = in/in mode
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#GPIO.output(27, GPIO.HIGH) # set for en/phase mode - low = in/in mode
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GPIO.output(27, GPIO.LOW) # set for en/phase mode - low = in/in mode
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self.motors = [ dw_Motor(self, m) for m in range(6) ]
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self.servos = [ dw_Servo(self, m, freq) for m in range(2) ]
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#self.steppers = [ dw_Stepper(self, m) for m in range(3) ]
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self.steppers = [ dw_Stepper(self, m) for m in range(3) ]
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def setPin(self, pin, value):
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if (pin < 0) or (pin > 15):
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