From d5fbd166b8a8ce95e112474d53e90f379b4edefa Mon Sep 17 00:00:00 2001 From: shrkey Date: Sat, 17 Sep 2016 21:04:32 +0100 Subject: [PATCH] updated stepper --- darkwater_640/darkwater_640.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/darkwater_640/darkwater_640.py b/darkwater_640/darkwater_640.py index 5b3b0f8..ec38593 100644 --- a/darkwater_640/darkwater_640.py +++ b/darkwater_640/darkwater_640.py @@ -5,6 +5,9 @@ from PCA9685 import PCA9685 import time import math +# Stepper motor code based on Adafruit Python Library for DC + Stepper Motor HAT +# Written by Limor Fried for Adafruit Industries. MIT license. + class dw_Stepper: MICROSTEPS = 8 MICROSTEP_CURVE = [0, 50, 98, 142, 180, 212, 236, 250, 255] @@ -61,17 +64,17 @@ class dw_Stepper: if (command == dw_Controller.FORWARD): self.MC.setPin(self.PHpin, 0) self.MC._pwm.set_pwm(self.ENpin, 0, speed*16) - if (command == dw_Controller.BACKWARD): + if (command == dw_Controller.REVERSE): self.MC.setPin(self.PHpin, 1) self.MC._pwm.set_pwm(self.ENpin, 0, speed*16) - if (command == dw_Controller.RELEASE): + if (command == dw_Controller.STOP): self.MC.setPin(self.ain1, 0) self.MC.setPin(self.ain2, 0) self.MC.setPin(self.bin1, 0) self.MC.setPin(self.bin2, 0) def off(self): - self.run(dw_Controller.RELEASE, 0) + self.run(dw_Controller.STOP, 0) def setSpeed(self, rpm): self.sec_per_step = 60.0 / (self.revsteps * rpm)