h3n3/darkwater_python_640
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indentation

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This commit is contained in:
shrkey
2016-09-13 22:45:21 +01:00
parent 89b8f62feb
commit c7db60bf6f
1 changed files with 88 additions and 88 deletions
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176
darkwater_640/darkwater_640.py
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@@ -75,107 +75,107 @@ class dw_Stepper:
def oneStep(self, dir, style): def oneStep(self, dir, style):
pwm_a = pwm_b = 255 pwm_a = pwm_b = 255
# first determine what sort of stepping procedure we're up to # first determine what sort of stepping procedure we're up to
if (style == dw_Controller.SINGLE): if (style == dw_Controller.SINGLE):
if ((self.currentstep/(self.MICROSTEPS/2)) % 2): if ((self.currentstep/(self.MICROSTEPS/2)) % 2):
# we're at an odd step, weird # we're at an odd step, weird
if (dir == dw_Controller.FORWARD): if (dir == dw_Controller.FORWARD):
self.currentstep += self.MICROSTEPS/2 self.currentstep += self.MICROSTEPS/2
else: else:
self.currentstep -= self.MICROSTEPS/2 self.currentstep -= self.MICROSTEPS/2
else: else:
# go to next even step # go to next even step
if (dir == dw_Controller.FORWARD): if (dir == dw_Controller.FORWARD):
self.currentstep += self.MICROSTEPS self.currentstep += self.MICROSTEPS
else: else:
self.currentstep -= self.MICROSTEPS self.currentstep -= self.MICROSTEPS
if (style == dw_Controller.DOUBLE): if (style == dw_Controller.DOUBLE):
if not (self.currentstep/(self.MICROSTEPS/2) % 2): if not (self.currentstep/(self.MICROSTEPS/2) % 2):
# we're at an even step, weird # we're at an even step, weird
if (dir == dw_Controller.FORWARD): if (dir == dw_Controller.FORWARD):
self.currentstep += self.MICROSTEPS/2 self.currentstep += self.MICROSTEPS/2
else: else:
self.currentstep -= self.MICROSTEPS/2 self.currentstep -= self.MICROSTEPS/2
else: else:
# go to next odd step # go to next odd step
if (dir == dw_Controller.FORWARD): if (dir == dw_Controller.FORWARD):
self.currentstep += self.MICROSTEPS self.currentstep += self.MICROSTEPS
else: else:
self.currentstep -= self.MICROSTEPS self.currentstep -= self.MICROSTEPS
if (style == dw_Controller.INTERLEAVE): if (style == dw_Controller.INTERLEAVE):
if (dir == dw_Controller.FORWARD): if (dir == dw_Controller.FORWARD):
self.currentstep += self.MICROSTEPS/2 self.currentstep += self.MICROSTEPS/2
else: else:
self.currentstep -= self.MICROSTEPS/2 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):
self.currentstep += 1 self.currentstep += 1
else: else:
self.currentstep -= 1 self.currentstep -= 1
# 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
pwm_a = pwm_b = 0 pwm_a = pwm_b = 0
if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS): if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS - self.currentstep] pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS - self.currentstep]
pwm_b = self.MICROSTEP_CURVE[self.currentstep] pwm_b = self.MICROSTEP_CURVE[self.currentstep]
elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2): elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS] pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS]
pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*2 - self.currentstep] pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*2 - self.currentstep]
elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3): elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS*3 - self.currentstep] pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS*3 - self.currentstep]
pwm_b = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*2] pwm_b = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*2]
elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4): elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4):
pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*3] pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*3]
pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*4 - self.currentstep] 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.PHpinA, coils[0]) #ain2 self.MC.setPin(self.PHpinA, coils[0]) #ain2
self.MC.setPin(self.ENpinB, coils[1]) #bin1 self.MC.setPin(self.ENpinB, coils[1]) #bin1
self.MC.setPin(self.ENpinA, coils[2]) #ain1 self.MC.setPin(self.ENpinA, coils[2]) #ain1
self.MC.setPin(self.PHpinB, coils[3]) #bin2 self.MC.setPin(self.PHpinB, coils[3]) #bin2
#self.PHpinA = ain2 #self.PHpinA = ain2
# self.ENpinA = ain1 # self.ENpinA = ain1
# self.PHpinB = bin2 # self.PHpinB = bin2
# self.ENpinB = bin1 # 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