indentation
This commit is contained in:
shrkey
@@ -75,107 +75,107 @@ class dw_Stepper:
|
||||
def oneStep(self, dir, style):
|
||||
pwm_a = pwm_b = 255
|
||||
|
||||
# first determine what sort of stepping procedure we're up to
|
||||
if (style == dw_Controller.SINGLE):
|
||||
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
|
||||
# first determine what sort of stepping procedure we're up to
|
||||
if (style == dw_Controller.SINGLE):
|
||||
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):
|
||||
if (dir == dw_Controller.FORWARD):
|
||||
self.currentstep += 1
|
||||
else:
|
||||
self.currentstep -= 1
|
||||
if (style == dw_Controller.MICROSTEP):
|
||||
if (dir == dw_Controller.FORWARD):
|
||||
self.currentstep += 1
|
||||
else:
|
||||
self.currentstep -= 1
|
||||
|
||||
# go to next 'step' and wrap around
|
||||
self.currentstep += self.MICROSTEPS * 4
|
||||
self.currentstep %= self.MICROSTEPS * 4
|
||||
# go to next 'step' and wrap around
|
||||
self.currentstep += self.MICROSTEPS * 4
|
||||
self.currentstep %= self.MICROSTEPS * 4
|
||||
|
||||
pwm_a = pwm_b = 0
|
||||
if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
|
||||
pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS - self.currentstep]
|
||||
pwm_b = self.MICROSTEP_CURVE[self.currentstep]
|
||||
elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
|
||||
pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS]
|
||||
pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*2 - self.currentstep]
|
||||
elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
|
||||
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 = pwm_b = 0
|
||||
if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
|
||||
pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS - self.currentstep]
|
||||
pwm_b = self.MICROSTEP_CURVE[self.currentstep]
|
||||
elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
|
||||
pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS]
|
||||
pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*2 - self.currentstep]
|
||||
elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
|
||||
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
|
||||
self.currentstep += self.MICROSTEPS * 4
|
||||
self.currentstep %= self.MICROSTEPS * 4
|
||||
# go to next 'step' and wrap around
|
||||
self.currentstep += self.MICROSTEPS * 4
|
||||
self.currentstep %= self.MICROSTEPS * 4
|
||||
|
||||
# only really used for microstepping, otherwise always on!
|
||||
self.MC._pwm.setPWM(self.PWMA, 0, pwm_a*16)
|
||||
self.MC._pwm.setPWM(self.PWMB, 0, pwm_b*16)
|
||||
# only really used for microstepping, otherwise always on!
|
||||
self.MC._pwm.setPWM(self.PWMA, 0, pwm_a*16)
|
||||
self.MC._pwm.setPWM(self.PWMB, 0, pwm_b*16)
|
||||
|
||||
# set up coil energizing!
|
||||
coils = [0, 0, 0, 0]
|
||||
# set up coil energizing!
|
||||
coils = [0, 0, 0, 0]
|
||||
|
||||
if (style == dw_Controller.MICROSTEP):
|
||||
if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
|
||||
coils = [1, 1, 0, 0]
|
||||
elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
|
||||
coils = [0, 1, 1, 0]
|
||||
elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
|
||||
coils = [0, 0, 1, 1]
|
||||
elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4):
|
||||
coils = [1, 0, 0, 1]
|
||||
else:
|
||||
step2coils = [ [1, 0, 0, 0],
|
||||
[1, 1, 0, 0],
|
||||
[0, 1, 0, 0],
|
||||
[0, 1, 1, 0],
|
||||
[0, 0, 1, 0],
|
||||
[0, 0, 1, 1],
|
||||
[0, 0, 0, 1],
|
||||
[1, 0, 0, 1] ]
|
||||
coils = step2coils[self.currentstep/(self.MICROSTEPS/2)]
|
||||
if (style == dw_Controller.MICROSTEP):
|
||||
if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
|
||||
coils = [1, 1, 0, 0]
|
||||
elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
|
||||
coils = [0, 1, 1, 0]
|
||||
elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
|
||||
coils = [0, 0, 1, 1]
|
||||
elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4):
|
||||
coils = [1, 0, 0, 1]
|
||||
else:
|
||||
step2coils = [ [1, 0, 0, 0],
|
||||
[1, 1, 0, 0],
|
||||
[0, 1, 0, 0],
|
||||
[0, 1, 1, 0],
|
||||
[0, 0, 1, 0],
|
||||
[0, 0, 1, 1],
|
||||
[0, 0, 0, 1],
|
||||
[1, 0, 0, 1] ]
|
||||
coils = step2coils[self.currentstep/(self.MICROSTEPS/2)]
|
||||
|
||||
#print "coils state = " + str(coils)
|
||||
self.MC.setPin(self.PHpinA, coils[0]) #ain2
|
||||
self.MC.setPin(self.ENpinB, coils[1]) #bin1
|
||||
self.MC.setPin(self.ENpinA, coils[2]) #ain1
|
||||
self.MC.setPin(self.PHpinB, coils[3]) #bin2
|
||||
#print "coils state = " + str(coils)
|
||||
self.MC.setPin(self.PHpinA, coils[0]) #ain2
|
||||
self.MC.setPin(self.ENpinB, coils[1]) #bin1
|
||||
self.MC.setPin(self.ENpinA, coils[2]) #ain1
|
||||
self.MC.setPin(self.PHpinB, coils[3]) #bin2
|
||||
|
||||
#self.PHpinA = ain2
|
||||
# self.ENpinA = ain1
|
||||
# self.PHpinB = bin2
|
||||
# self.ENpinB = bin1
|
||||
#self.PHpinA = ain2
|
||||
# self.ENpinA = ain1
|
||||
# self.PHpinB = bin2
|
||||
# self.ENpinB = bin1
|
||||
|
||||
return self.currentstep
|
||||
return self.currentstep
|
||||
|
||||
def step(self, steps, direction, stepstyle):
|
||||
s_per_s = self.sec_per_step
|
||||
|
||||
Reference in New Issue
Block a user