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stepper test

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This commit is contained in:
shrkey
2016-09-13 22:53:18 +01:00
parent 3d55fefa1a
commit d382b174ff
2 changed files with 11 additions and 74 deletions
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80
640steppertest.py
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@@ -2,83 +2,15 @@ import time
from darkwater_640.darkwater_640 import dw_Controller, dw_Servo, dw_Motor from darkwater_640.darkwater_640 import dw_Controller, dw_Servo, dw_Motor
dw = dw_Controller( addr=0x60 ) dw = dw_Controller( addr=0x60 )
m1 = dw.getMotor(1) s1 = dw.getStepper(1)
m2 = dw.getMotor(2)
m3 = dw.getMotor(3) m3 = dw.getMotor(3)
m4 = dw.getMotor(4)
m5 = dw.getMotor(5)
m6 = dw.getMotor(6)
m1.off() s1.off()
m2.off()
m3.off() m3.off()
m4.off()
m5.off()
m6.off()
time.sleep(1) 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) m3.setMotorSpeed(-255)
time.sleep(1) s1.oneStep( dw_Controller.FORWARD, dw_Controller.SINGLE);
print "Motor 4"
m4.setMotorSpeed(-255) s1.off()
time.sleep(1) m3.off()
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()

5
darkwater_640/darkwater_640.py
View File

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