shrkey
GitHub
@@ -2,83 +2,15 @@ import time
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from darkwater_640.darkwater_640 import dw_Controller, dw_Servo, dw_Motor
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dw = dw_Controller( addr=0x60 )
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m1 = dw.getMotor(1)
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m2 = dw.getMotor(2)
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s1 = dw.getStepper(1)
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m3 = dw.getMotor(3)
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m4 = dw.getMotor(4)
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m5 = dw.getMotor(5)
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m6 = dw.getMotor(6)
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m1.off()
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m2.off()
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s1.off()
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m3.off()
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m4.off()
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m5.off()
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m6.off()
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time.sleep(1)
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##time.sleep(10)
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print "Set forward - "
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print "Motor 1"
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m1.setMotorSpeed(255)
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time.sleep(1)
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print "Motor 2"
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m2.setMotorSpeed(255)
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time.sleep(1)
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print "Motor 3"
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m3.setMotorSpeed(255)
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time.sleep(1)
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print "Motor 4"
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m4.setMotorSpeed(255)
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time.sleep(1)
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print "Motor 5"
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m5.setMotorSpeed(255)
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time.sleep(1)
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print "Motor 6"
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m6.setMotorSpeed(255)
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time.sleep(1)
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print "Stopping - "
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print "Motor 1"
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m1.setMotorSpeed(0)
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time.sleep(1)
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print "Motor 2"
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m2.setMotorSpeed(0)
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time.sleep(1)
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print "Motor 3"
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m3.setMotorSpeed(0)
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time.sleep(1)
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print "Motor 4"
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m4.setMotorSpeed(0)
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time.sleep(1)
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print "Motor 5"
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m5.setMotorSpeed(0)
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time.sleep(1)
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print "Motor 6"
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m6.setMotorSpeed(0)
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time.sleep(1)
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print "Set reverse - "
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print "Motor 1"
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m1.setMotorSpeed(-255)
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time.sleep(1)
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print "Motor 2"
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m2.setMotorSpeed(-255)
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time.sleep(1)
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print "Motor 3"
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m3.setMotorSpeed(-255)
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time.sleep(1)
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print "Motor 4"
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m4.setMotorSpeed(-255)
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time.sleep(1)
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print "Motor 5"
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m5.setMotorSpeed(-255)
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time.sleep(1)
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print "Motor 6"
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m6.setMotorSpeed(-255)
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time.sleep(1)
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print "All off"
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m1.off()
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m2.off()
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s1.oneStep( dw_Controller.FORWARD, dw_Controller.SINGLE);
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s1.off()
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m3.off()
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m4.off()
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m5.off()
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m6.off()
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@@ -5,194 +5,186 @@ from PCA9685 import PCA9685
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import time
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import math
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# class dw_Stepper:
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# MICROSTEPS = 8
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# MICROSTEP_CURVE = [0, 50, 98, 142, 180, 212, 236, 250, 255]
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# Stepper motor code based on Adafruit Python Library for DC + Stepper Motor HAT
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# Written by Limor Fried for Adafruit Industries. MIT license.
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# #MICROSTEPS = 16
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# # a sinusoidal curve NOT LINEAR!
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# #MICROSTEP_CURVE = [0, 25, 50, 74, 98, 120, 141, 162, 180, 197, 212, 225, 236, 244, 250, 253, 255]
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class dw_Stepper:
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MICROSTEPS = 8
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MICROSTEP_CURVE = [0, 50, 98, 142, 180, 212, 236, 250, 255]
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# def __init__(self, controller, num, steps=200):
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# self.speed = 0
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# self.MC = controller
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# self.motornum = num
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# modepin = in1 = in2 = 0
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#MICROSTEPS = 16
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# a sinusoidal curve NOT LINEAR!
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#MICROSTEP_CURVE = [0, 25, 50, 74, 98, 120, 141, 162, 180, 197, 212, 225, 236, 244, 250, 253, 255]
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# self.revsteps = steps
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# self.sec_per_step = 0.1
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# self.steppingcounter = 0
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# self.currentstep = 0
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def __init__(self, controller, num, steps=200, forcemode=False):
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self.speed = 0
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self.MC = controller
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self.motornum = num
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modepin = in1 = in2 = 0
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# if (num == 0):
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# ain2 = 2 #phase
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# ain1 = 3 #enable
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# bin2 = 4 #phase
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# bin1 = 5 #enable
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# elif (num == 1):
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# ain2 = 6 #phase
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# ain1 = 7 #enable
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# bin2 = 8 #phase
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# bin1 = 9 #enable
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# elif (num == 2):
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# ain2 = 10 #phase
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# ain1 = 11 #enable
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# bin2 = 12 #phase
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# bin1 = 13 #enable
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# else:
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# raise NameError('MotorHAT Stepper must be between 1 and 3 inclusive')
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self.revsteps = steps
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self.sec_per_step = 0.1
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self.steppingcounter = 0
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self.currentstep = 0
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# self.PHpinA = ain2
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# self.ENpinA = ain1
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# self.PHpinB = bin2
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# self.ENpinB = bin1
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# # switch off both drivers
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# self.run(dw_Controller.RELEASE, 0)
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if(self.MC.getMode() != dw_Controller.ININ and forcemode != True ):
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raise NameError('Mode needs to be set to ININ for stepper mode operation')
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else:
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self.MC.setMode(dw_Controller.ININ)
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# def run(self, command, speed = 0):
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# if not self.MC:
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# return
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# if (command == dw_Controller.FORWARD):
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# self.MC.setPin(self.PHpin, 0)
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# self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
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# if (command == dw_Controller.BACKWARD):
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# self.MC.setPin(self.PHpin, 1)
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# self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
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# if (command == dw_Controller.RELEASE):
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# self.MC.setPin(self.PHpinA, 0)
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# self.MC.setPin(self.ENpinA, 0)
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# self.MC.setPin(self.PHpinB, 0)
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# self.MC.setPin(self.ENpinB, 0)
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if (num == 0):
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ain1 = 2
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ain2 = 3
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bin1 = 4
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bin2 = 5
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elif (num == 1):
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ain1 = 6
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ain2 = 7
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bin1 = 8
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bin2 = 9
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elif (num == 2):
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ain1 = 10
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ain2 = 11
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bin1 = 12
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bin2 = 13
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else:
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raise NameError('Stepper must be between 1 and 3 inclusive')
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# def off(self):
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# self.run(dw_Controller.RELEASE, 0)
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self.ain1 = ain1
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self.ain2 = ain2
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self.bin1 = bin1
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self.bin2 = bin2
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# def setSpeed(self, rpm):
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# self.sec_per_step = 60.0 / (self.revsteps * rpm)
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# self.steppingcounter = 0
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# switch off both drivers
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self.run(dw_Controller.STOP, 0)
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# def oneStep(self, dir, style):
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# pwm_a = pwm_b = 255
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def run(self, command, speed = 0):
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if not self.MC:
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return
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# # first determine what sort of stepping procedure we're up to
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# if (style == dw_Controller.SINGLE):
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# if ((self.currentstep/(self.MICROSTEPS/2)) % 2):
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# # we're at an odd step, weird
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# if (dir == dw_Controller.FORWARD):
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# self.currentstep += self.MICROSTEPS/2
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# else:
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# self.currentstep -= self.MICROSTEPS/2
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# else:
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# # go to next even step
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# if (dir == dw_Controller.FORWARD):
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# self.currentstep += self.MICROSTEPS
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# else:
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# self.currentstep -= self.MICROSTEPS
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# if (style == dw_Controller.DOUBLE):
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# if not (self.currentstep/(self.MICROSTEPS/2) % 2):
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# # we're at an even step, weird
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# if (dir == dw_Controller.FORWARD):
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# self.currentstep += self.MICROSTEPS/2
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# else:
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# self.currentstep -= self.MICROSTEPS/2
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# else:
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# # go to next odd step
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# if (dir == dw_Controller.FORWARD):
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# self.currentstep += self.MICROSTEPS
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# else:
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# self.currentstep -= self.MICROSTEPS
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# if (style == dw_Controller.INTERLEAVE):
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# if (dir == dw_Controller.FORWARD):
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# self.currentstep += self.MICROSTEPS/2
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# else:
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# self.currentstep -= self.MICROSTEPS/2
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if (command == dw_Controller.STOP):
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self.MC.setPin(self.ain1, 1)
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self.MC.setPin(self.ain2, 1)
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self.MC.setPin(self.bin1, 1)
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self.MC.setPin(self.bin2, 1)
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# if (style == dw_Controller.MICROSTEP):
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# if (dir == dw_Controller.FORWARD):
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# self.currentstep += 1
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# else:
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# self.currentstep -= 1
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def off(self):
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self.run(dw_Controller.STOP, 0)
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# # go to next 'step' and wrap around
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# self.currentstep += self.MICROSTEPS * 4
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# self.currentstep %= self.MICROSTEPS * 4
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def setSpeed(self, rpm):
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self.sec_per_step = 60.0 / (self.revsteps * rpm)
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self.steppingcounter = 0
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# pwm_a = pwm_b = 0
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# if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
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# pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS - self.currentstep]
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# pwm_b = self.MICROSTEP_CURVE[self.currentstep]
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# elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
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# pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS]
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# pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*2 - self.currentstep]
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# elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
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# pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS*3 - self.currentstep]
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# pwm_b = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*2]
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# elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4):
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# pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*3]
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# pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*4 - self.currentstep]
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def oneStep(self, dir, style):
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pwm_a = pwm_b = 255
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# first determine what sort of stepping procedure we're up to
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if (style == dw_Controller.SINGLE):
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if ((self.currentstep/(self.MICROSTEPS/2)) % 2):
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# we're at an odd step, weird
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if (dir == dw_Controller.FORWARD):
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self.currentstep += self.MICROSTEPS/2
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else:
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self.currentstep -= self.MICROSTEPS/2
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else:
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# go to next even step
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if (dir == dw_Controller.FORWARD):
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self.currentstep += self.MICROSTEPS
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else:
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self.currentstep -= self.MICROSTEPS
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if (style == dw_Controller.DOUBLE):
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if not (self.currentstep/(self.MICROSTEPS/2) % 2):
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# we're at an even step, weird
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if (dir == dw_Controller.FORWARD):
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self.currentstep += self.MICROSTEPS/2
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else:
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self.currentstep -= self.MICROSTEPS/2
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else:
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# go to next odd step
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if (dir == dw_Controller.FORWARD):
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self.currentstep += self.MICROSTEPS
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else:
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self.currentstep -= self.MICROSTEPS
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if (style == dw_Controller.MICROSTEP):
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if (dir == dw_Controller.FORWARD):
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self.currentstep += 1
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else:
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self.currentstep -= 1
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# go to next 'step' and wrap around
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self.currentstep += self.MICROSTEPS * 4
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self.currentstep %= self.MICROSTEPS * 4
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pwm_a = pwm_b = 0
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if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
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pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS - self.currentstep]
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pwm_b = self.MICROSTEP_CURVE[self.currentstep]
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elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
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pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS]
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pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*2 - self.currentstep]
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elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
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pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS*3 - self.currentstep]
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pwm_b = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*2]
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elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4):
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pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*3]
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pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*4 - self.currentstep]
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# # go to next 'step' and wrap around
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# self.currentstep += self.MICROSTEPS * 4
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# self.currentstep %= self.MICROSTEPS * 4
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# go to next 'step' and wrap around
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self.currentstep += self.MICROSTEPS * 4
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self.currentstep %= self.MICROSTEPS * 4
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# # only really used for microstepping, otherwise always on!
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# self.MC._pwm.setPWM(self.PWMA, 0, pwm_a*16)
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# self.MC._pwm.setPWM(self.PWMB, 0, pwm_b*16)
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# set up coil energizing!
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coils = [0, 0, 0, 0]
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# # set up coil energizing!
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# coils = [0, 0, 0, 0]
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if (style == dw_Controller.MICROSTEP):
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if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
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coils = [1, 1, 0, 0]
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elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
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coils = [0, 1, 1, 0]
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elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
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coils = [0, 0, 1, 1]
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elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4):
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coils = [1, 0, 0, 1]
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else:
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step2coils = [ [1, 0, 0, 0],
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[1, 1, 0, 0],
|
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[0, 1, 0, 0],
|
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[0, 1, 1, 0],
|
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[0, 0, 1, 0],
|
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[0, 0, 1, 1],
|
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[0, 0, 0, 1],
|
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[1, 0, 0, 1] ]
|
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coils = step2coils[self.currentstep/(self.MICROSTEPS/2)]
|
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# if (style == dw_Controller.MICROSTEP):
|
||||
# if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
|
||||
# coils = [1, 1, 0, 0]
|
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# elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
|
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# coils = [0, 1, 1, 0]
|
||||
# elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
|
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# coils = [0, 0, 1, 1]
|
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# elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4):
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# coils = [1, 0, 0, 1]
|
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# else:
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# step2coils = [ [1, 0, 0, 0],
|
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# [1, 1, 0, 0],
|
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# [0, 1, 0, 0],
|
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# [0, 1, 1, 0],
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# [0, 0, 1, 0],
|
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# [0, 0, 1, 1],
|
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# [0, 0, 0, 1],
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# [1, 0, 0, 1] ]
|
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# coils = step2coils[self.currentstep/(self.MICROSTEPS/2)]
|
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self.MC.setPin(self.ain1, coils[0]) #ain2
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self.MC.setPin(self.bin1, coils[1]) #bin1
|
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self.MC.setPin(self.ain2, coils[2]) #ain1
|
||||
self.MC.setPin(self.bin2, coils[3]) #bin2
|
||||
|
||||
# #print "coils state = " + str(coils)
|
||||
# self.MC.setPin(self.AIN2, coils[0])
|
||||
# self.MC.setPin(self.BIN1, coils[1])
|
||||
# self.MC.setPin(self.AIN1, coils[2])
|
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# self.MC.setPin(self.BIN2, coils[3])
|
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return self.currentstep
|
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|
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# return self.currentstep
|
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def step(self, steps, direction, stepstyle):
|
||||
s_per_s = self.sec_per_step
|
||||
lateststep = 0
|
||||
|
||||
# def step(self, steps, direction, stepstyle):
|
||||
# s_per_s = self.sec_per_step
|
||||
# lateststep = 0
|
||||
if (stepstyle == dw_Controller.MICROSTEP):
|
||||
s_per_s /= self.MICROSTEPS
|
||||
steps *= self.MICROSTEPS
|
||||
|
||||
# if (stepstyle == dw_Controller.INTERLEAVE):
|
||||
# s_per_s = s_per_s / 2.0
|
||||
# if (stepstyle == dw_Controller.MICROSTEP):
|
||||
# s_per_s /= self.MICROSTEPS
|
||||
# steps *= self.MICROSTEPS
|
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print s_per_s, " sec per step"
|
||||
|
||||
# print s_per_s, " sec per step"
|
||||
for s in range(steps):
|
||||
lateststep = self.oneStep(direction, stepstyle)
|
||||
time.sleep(s_per_s)
|
||||
|
||||
# for s in range(steps):
|
||||
# lateststep = self.oneStep(direction, stepstyle)
|
||||
# time.sleep(s_per_s)
|
||||
|
||||
# if (stepstyle == dw_Controller.MICROSTEP):
|
||||
# # this is an edge case, if we are in between full steps, lets just keep going
|
||||
# # so we end on a full step
|
||||
# while (lateststep != 0) and (lateststep != self.MICROSTEPS):
|
||||
# lateststep = self.oneStep(dir, stepstyle)
|
||||
# time.sleep(s_per_s)
|
||||
if (stepstyle == dw_Controller.MICROSTEP):
|
||||
# this is an edge case, if we are in between full steps, lets just keep going
|
||||
# so we end on a full step
|
||||
while (lateststep != 0) and (lateststep != self.MICROSTEPS):
|
||||
lateststep = self.oneStep(dir, stepstyle)
|
||||
time.sleep(s_per_s)
|
||||
|
||||
class dw_Motor:
|
||||
def __init__(self, controller, num):
|
||||
@@ -222,40 +214,59 @@ class dw_Motor:
|
||||
else:
|
||||
raise NameError('Motors must be between 1 and 6 inclusive')
|
||||
|
||||
# for phase enable
|
||||
self.PHpin = in2
|
||||
self.ENpin = in1
|
||||
# for in/in
|
||||
self.IN2pin = in2
|
||||
self.IN1pin = in1
|
||||
# switch off
|
||||
self.run(dw_Controller.RELEASE, 0)
|
||||
self.run(dw_Controller.STOP, 0)
|
||||
|
||||
def setMotorSpeed(self, value):
|
||||
# Check for PWM values
|
||||
if(value > 1000) and (value < 1500):
|
||||
self.run(dw_Controller.BACKWARD, round(translate(value,1500,1000, 0, 255)))
|
||||
self.run(dw_Controller.REVERSE, round(translate(value,1500,1000, 0, 255)))
|
||||
if(value > 1500) and (value <= 2000):
|
||||
self.run(dw_Controller.FORWARD, round(translate(value, 1500, 2000, 0, 255)))
|
||||
if(value == 1500):
|
||||
self.run(dw_Controller.RELEASE, 0)
|
||||
self.run(dw_Controller.STOP, 0)
|
||||
if(value > 0) and (value <= 255):
|
||||
self.run(dw_Controller.FORWARD, value)
|
||||
if(value == 0):
|
||||
self.run(dw_Controller.RELEASE, value)
|
||||
self.run(dw_Controller.STOP, value)
|
||||
if(value < 0) and (value >= -255):
|
||||
self.run(dw_Controller.BACKWARD, abs(value))
|
||||
self.run(dw_Controller.REVERSE, abs(value))
|
||||
|
||||
def run(self, command, speed = 0):
|
||||
if not self.MC:
|
||||
return
|
||||
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):
|
||||
self.MC.setPin(self.PHpin, 1)
|
||||
self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
|
||||
if (command == dw_Controller.RELEASE):
|
||||
self.MC.setPin(self.PHpin, 0)
|
||||
self.MC.setPin(self.ENpin, 0)
|
||||
if (self.MC.getMode() == dw_Controller.PHASE):
|
||||
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.REVERSE):
|
||||
self.MC.setPin(self.PHpin, 1)
|
||||
self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
|
||||
if (command == dw_Controller.STOP):
|
||||
self.MC.setPin(self.PHpin, 0)
|
||||
self.MC.setPin(self.ENpin, 0)
|
||||
else: ## IN/IN mode
|
||||
if (command == dw_Controller.FORWARD):
|
||||
self.MC.setPin(self.IN2pin, 0)
|
||||
self.MC._pwm.set_pwm(self.IN1pin, 0, speed*16)
|
||||
if (command == dw_Controller.REVERSE):
|
||||
self.MC.setPin(self.IN1pin, 0)
|
||||
self.MC._pwm.set_pwm(self.IN2pin, 0, speed*16)
|
||||
if (command == dw_Controller.STOP):
|
||||
self.MC.setPin(self.IN1pin, 1)
|
||||
self.MC.setPin(self.IN2pin, 1)
|
||||
if (command == dw_Controller.COAST):
|
||||
self.MC.setPin(self.IN1pin, 0)
|
||||
self.MC.setPin(self.IN2pin, 0)
|
||||
|
||||
def off(self):
|
||||
self.run(dw_Controller.RELEASE, 0)
|
||||
self.run(dw_Controller.STOP, 0)
|
||||
|
||||
|
||||
class dw_Servo:
|
||||
@@ -311,9 +322,11 @@ class dw_Servo:
|
||||
|
||||
class dw_Controller:
|
||||
FORWARD = 1
|
||||
BACKWARD = 2
|
||||
BRAKE = 3
|
||||
RELEASE = 4
|
||||
REVERSE = 2
|
||||
BRAKEFORWARD = 3
|
||||
BRAKEREVERSE = 4
|
||||
STOP = 5 #brake
|
||||
COAST = 6 # in/in only
|
||||
|
||||
SINGLE = 1
|
||||
DOUBLE = 2
|
||||
@@ -333,12 +346,24 @@ class dw_Controller:
|
||||
GPIO.setmode(GPIO.BCM)
|
||||
GPIO.setwarnings(False)
|
||||
GPIO.setup(27, GPIO.OUT)
|
||||
GPIO.output(27, GPIO.HIGH) # set for en/phase mode - low = in/in mode
|
||||
|
||||
self.setMode(self.ININ) # set high for en/phase mode - low = in/in mode
|
||||
|
||||
self.motors = [ dw_Motor(self, m) for m in range(6) ]
|
||||
self.servos = [ dw_Servo(self, m, freq) for m in range(2) ]
|
||||
|
||||
#self.steppers = [ dw_Stepper(self, m) for m in range(3) ]
|
||||
self.steppers = [ dw_Stepper(self, m) for m in range(3) ]
|
||||
|
||||
def setMode(self, mode = 1):
|
||||
if (mode == self.ININ):
|
||||
self._mode = self.ININ
|
||||
GPIO.output(27, GPIO.LOW)
|
||||
else:
|
||||
self._mode = self.PHASE
|
||||
GPIO.output(27, GPIO.HIGH)
|
||||
|
||||
def getMode(self):
|
||||
return self._mode
|
||||
|
||||
def setPin(self, pin, value):
|
||||
if (pin < 0) or (pin > 15):
|
||||
@@ -370,6 +395,11 @@ 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)
|
||||
|
||||
Reference in New Issue
Block a user