h3n3/darkwater_python_640
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New motor code to handle IN/IN mode

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This commit is contained in:
shrkey
2016-09-17 20:52:00 +01:00
parent ab26bc2885
commit bf07ee7276
1 changed files with 74 additions and 54 deletions
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128
darkwater_640/darkwater_640.py
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@@ -13,7 +13,7 @@ class dw_Stepper:
# 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, forcemode=False):
self.speed = 0 self.speed = 0
self.MC = controller self.MC = controller
self.motornum = num self.motornum = num
@@ -24,23 +24,28 @@ class dw_Stepper:
self.steppingcounter = 0 self.steppingcounter = 0
self.currentstep = 0 self.currentstep = 0
if (num == 0): if(self.MC.getMode() != dw_Controller.ININ && forcemode != True ):
ain1 = 2 #phase raise NameError('Mode needs to be set to ININ for stepper mode operation')
ain2 = 3 #enable
bin1 = 4 #phase
bin2 = 5 #enable
elif (num == 1):
ain1 = 6 #phase
ain2 = 7 #enable
bin1 = 8 #phase
bin2 = 9 #enable
elif (num == 2):
ain1 = 10 #phase
ain2 = 11 #enable
bin1 = 12 #phase
bin2 = 13 #enable
else: else:
raise NameError('MotorHAT Stepper must be between 1 and 3 inclusive') self.MC.setmode(dw_Controller.ININ)
if (num == 0):
ain1 = 2
ain2 = 3
bin1 = 4
bin2 = 5
elif (num == 1):
ain1 = 6
ain2 = 7
bin1 = 8
bin2 = 9
elif (num == 2):
ain1 = 10
ain2 = 11
bin1 = 12
bin2 = 13
else:
raise NameError('Stepper must be between 1 and 3 inclusive')
self.ain1 = ain1 self.ain1 = ain1
self.ain2 = ain2 self.ain2 = ain2
@@ -102,11 +107,6 @@ class dw_Stepper:
self.currentstep += self.MICROSTEPS self.currentstep += self.MICROSTEPS
else: else:
self.currentstep -= self.MICROSTEPS 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): if (style == dw_Controller.MICROSTEP):
if (dir == dw_Controller.FORWARD): if (dir == dw_Controller.FORWARD):
@@ -137,10 +137,6 @@ class dw_Stepper:
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!
#self.MC._pwm.set_pwm(self.PWMA, 0, pwm_a*16)
#self.MC._pwm.set_pwm(self.PWMB, 0, pwm_b*16)
# set up coil energizing! # set up coil energizing!
coils = [0, 0, 0, 0] coils = [0, 0, 0, 0]
@@ -164,25 +160,17 @@ class dw_Stepper:
[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)
self.MC.setPin(self.ain1, coils[0]) #ain2 self.MC.setPin(self.ain1, coils[0]) #ain2
self.MC.setPin(self.bin1, coils[1]) #bin1 self.MC.setPin(self.bin1, coils[1]) #bin1
self.MC.setPin(self.ain2, coils[2]) #ain1 self.MC.setPin(self.ain2, coils[2]) #ain1
self.MC.setPin(self.bin2, coils[3]) #bin2 self.MC.setPin(self.bin2, coils[3]) #bin2
#self.PHpinA = ain2
# self.ENpinA = ain1
# self.PHpinB = bin2
# self.ENpinB = bin1
return self.currentstep return self.currentstep
def step(self, steps, direction, stepstyle): def step(self, steps, direction, stepstyle):
s_per_s = self.sec_per_step s_per_s = self.sec_per_step
lateststep = 0 lateststep = 0
if (stepstyle == dw_Controller.INTERLEAVE):
s_per_s = s_per_s / 2.0
if (stepstyle == dw_Controller.MICROSTEP): if (stepstyle == dw_Controller.MICROSTEP):
s_per_s /= self.MICROSTEPS s_per_s /= self.MICROSTEPS
steps *= self.MICROSTEPS steps *= self.MICROSTEPS
@@ -228,40 +216,59 @@ class dw_Motor:
else: else:
raise NameError('Motors must be between 1 and 6 inclusive') raise NameError('Motors must be between 1 and 6 inclusive')
# for phase enable
self.PHpin = in2 self.PHpin = in2
self.ENpin = in1 self.ENpin = in1
# for in/in
self.IN2pin = in2
self.IN1pin = in1
# switch off # switch off
self.run(dw_Controller.RELEASE, 0) self.run(dw_Controller.STOP, 0)
def setMotorSpeed(self, value): def setMotorSpeed(self, value):
# Check for PWM values # Check for PWM values
if(value > 1000) and (value < 1500): if(value > 1000) and (value < 1500):
self.run(dw_Controller.BACKWARD, round(translate(value,1500,1000, 0, 255))) self.run(dw_Controller.REVERSE, round(translate(value,1500,1000, 0, 255)))
if(value > 1500) and (value <= 2000): if(value > 1500) and (value <= 2000):
self.run(dw_Controller.FORWARD, round(translate(value, 1500, 2000, 0, 255))) self.run(dw_Controller.FORWARD, round(translate(value, 1500, 2000, 0, 255)))
if(value == 1500): if(value == 1500):
self.run(dw_Controller.RELEASE, 0) self.run(dw_Controller.STOP, 0)
if(value > 0) and (value <= 255): if(value > 0) and (value <= 255):
self.run(dw_Controller.FORWARD, value) self.run(dw_Controller.FORWARD, value)
if(value == 0): if(value == 0):
self.run(dw_Controller.RELEASE, value) self.run(dw_Controller.STOP, value)
if(value < 0) and (value >= -255): if(value < 0) and (value >= -255):
self.run(dw_Controller.BACKWARD, abs(value)) self.run(dw_Controller.REVERSE, abs(value))
def run(self, command, speed = 0): def run(self, command, speed = 0):
if not self.MC: if not self.MC:
return return
if (command == dw_Controller.FORWARD): if (self.MC.getMode() == dw_Controller.PHASE):
self.MC.setPin(self.PHpin, 0) if (command == dw_Controller.FORWARD):
self.MC._pwm.set_pwm(self.ENpin, 0, speed*16) self.MC.setPin(self.PHpin, 0)
if (command == dw_Controller.BACKWARD): self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
self.MC.setPin(self.PHpin, 1) if (command == dw_Controller.REVERSE):
self.MC._pwm.set_pwm(self.ENpin, 0, speed*16) self.MC.setPin(self.PHpin, 1)
if (command == dw_Controller.RELEASE): self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
self.MC.setPin(self.PHpin, 0) if (command == dw_Controller.STOP):
self.MC.setPin(self.ENpin, 0) self.MC.setPin(self.PHpin, 0)
self.MC.setPin(self.ENpin, 0)
else: ## IN/IN mode
if (command == dw_Controller.FORWARD):
self.MC.setPin(self.IN2pin, 0)
self.MC._pwm.set_pwm(self.IN1pin, 0, speed*16)
if (command == dw_Controller.REVERSE):
self.MC.setPin(self.IN1pin, 0)
self.MC._pwm.set_pwm(self.IN2pin, 0, speed*16)
if (command == dw_Controller.STOP):
self.MC.setPin(self.IN1pin, 1)
self.MC.setPin(self.IN2pin, 1)
if (command == dw_Controller.COAST):
self.MC.setPin(self.IN1pin, 0)
self.MC.setPin(self.IN2pin, 0)
def off(self): def off(self):
self.run(dw_Controller.RELEASE, 0) self.run(dw_Controller.STOP, 0)
class dw_Servo: class dw_Servo:
@@ -317,9 +324,11 @@ class dw_Servo:
class dw_Controller: class dw_Controller:
FORWARD = 1 FORWARD = 1
BACKWARD = 2 REVERSE = 2
BRAKE = 3 BRAKEFORWARD = 3
RELEASE = 4 BRAKEREVERSE = 4
STOP = 5 #brake
COAST = 6 # in/in only
SINGLE = 1 SINGLE = 1
DOUBLE = 2 DOUBLE = 2
@@ -339,14 +348,25 @@ 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.LOW) # set for en/phase mode - low = in/in mode self.setMode(self.ININ) # set high 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 setMode(self, mode = 1):
if (mode == self.ININ):
self._mode = self.ININ
GPIO.output(27, GPIO.HIGH)
else:
self._mode = self.PHASE
GPIO.output(27, GPIO.LOW)
def getMode(self):
return self._mode
def setPin(self, pin, value): def setPin(self, pin, value):
if (pin < 0) or (pin > 15): if (pin < 0) or (pin > 15):
raise NameError('PWM pin must be between 0 and 15 inclusive') raise NameError('PWM pin must be between 0 and 15 inclusive')