stepper test

640steppertest.py

@@ -2,83 +2,15 @@ import time
 from darkwater_640.darkwater_640 import dw_Controller, dw_Servo, dw_Motor
 
 dw = dw_Controller( addr=0x60 )
-m1 = dw.getMotor(1)
-m2 = dw.getMotor(2)
+s1 = dw.getStepper(1)
 m3 = dw.getMotor(3)
-m4 = dw.getMotor(4)
-m5 = dw.getMotor(5)
-m6 = dw.getMotor(6)
 
-m1.off()
-m2.off()
+s1.off()
 m3.off()
-m4.off()
-m5.off()
-m6.off()
 time.sleep(1)
 
-##time.sleep(10)
-print "Set forward - "
-print "Motor 1"
-m1.setMotorSpeed(255)
-time.sleep(1)
-print "Motor 2"
-m2.setMotorSpeed(255)
-time.sleep(1)
-print "Motor 3"
-m3.setMotorSpeed(255)
-time.sleep(1)
-print "Motor 4"
-m4.setMotorSpeed(255)
-time.sleep(1)
-print "Motor 5"
-m5.setMotorSpeed(255)
-time.sleep(1)
-print "Motor 6"
-m6.setMotorSpeed(255)
-time.sleep(1)
-print "Stopping - "
-print "Motor 1"
-m1.setMotorSpeed(0)
-time.sleep(1)
-print "Motor 2"
-m2.setMotorSpeed(0)
-time.sleep(1)
-print "Motor 3"
-m3.setMotorSpeed(0)
-time.sleep(1)
-print "Motor 4"
-m4.setMotorSpeed(0)
-time.sleep(1)
-print "Motor 5"
-m5.setMotorSpeed(0)
-time.sleep(1)
-print "Motor 6"
-m6.setMotorSpeed(0)
-time.sleep(1)
-print "Set reverse - "
-print "Motor 1"
-m1.setMotorSpeed(-255)
-time.sleep(1)
-print "Motor 2"
-m2.setMotorSpeed(-255)
-time.sleep(1)
-print "Motor 3"
 m3.setMotorSpeed(-255)
-time.sleep(1)
-print "Motor 4"
-m4.setMotorSpeed(-255)
-time.sleep(1)
-print "Motor 5"
-m5.setMotorSpeed(-255)
-time.sleep(1)
-print "Motor 6"
-m6.setMotorSpeed(-255)
-time.sleep(1)
-print "All off"
-m1.off()
-m2.off()
-m3.off()
-m4.off()
-m5.off()
-m6.off()
+s1.oneStep( dw_Controller.FORWARD, dw_Controller.SINGLE);
+
+s1.off()
+m3.off()

darkwater_640/darkwater_640.py

@@ -377,6 +377,11 @@ class dw_Controller:
                         raise NameError('Servos must be between 1 and 2 inclusive')
                 return self.servos[num-1]
 
+        def getStepper(self, num):
+                if (num < 1) or (num > 3):
+                        raise NameError('Stepper motors must be between 1 and 3 inclusive')
+                return self.steppers[num-1]
+
         def setAllPWM(self, value):
                 if(value > 0):
                         self._pwm.set_all_pwm(0, value)