h3n3/darkwater_python_640
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updated stepper

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shrkey
2016-09-17 21:04:32 +01:00
parent bf07ee7276
commit d5fbd166b8
1 changed files with 6 additions and 3 deletions
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9
darkwater_640/darkwater_640.py
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@@ -5,6 +5,9 @@ from PCA9685 import PCA9685
import time import time
import math 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: class dw_Stepper:
MICROSTEPS = 8 MICROSTEPS = 8
MICROSTEP_CURVE = [0, 50, 98, 142, 180, 212, 236, 250, 255] MICROSTEP_CURVE = [0, 50, 98, 142, 180, 212, 236, 250, 255]
@@ -61,17 +64,17 @@ class dw_Stepper:
if (command == dw_Controller.FORWARD): if (command == dw_Controller.FORWARD):
self.MC.setPin(self.PHpin, 0) self.MC.setPin(self.PHpin, 0)
self.MC._pwm.set_pwm(self.ENpin, 0, speed*16) 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.setPin(self.PHpin, 1)
self.MC._pwm.set_pwm(self.ENpin, 0, speed*16) 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.ain1, 0)
self.MC.setPin(self.ain2, 0) self.MC.setPin(self.ain2, 0)
self.MC.setPin(self.bin1, 0) self.MC.setPin(self.bin1, 0)
self.MC.setPin(self.bin2, 0) self.MC.setPin(self.bin2, 0)
def off(self): def off(self):
self.run(dw_Controller.RELEASE, 0) self.run(dw_Controller.STOP, 0)
def setSpeed(self, rpm): def setSpeed(self, rpm):
self.sec_per_step = 60.0 / (self.revsteps * rpm) self.sec_per_step = 60.0 / (self.revsteps * rpm)