431 lines
18 KiB
Python
431 lines
18 KiB
Python
#!/usr/bin/python
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import RPi.GPIO as GPIO
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from .PCA9685 import PCA9685
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import time
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import math
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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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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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#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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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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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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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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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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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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# switch off both drivers
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self.run(dw_Controller.STOP, 0)
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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.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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def off(self):
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self.run(dw_Controller.STOP, 0)
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def setMotorSpeed(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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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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# 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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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
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self.MC.setPin(self.bin2, coils[3]) #bin2
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return self.currentstep
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def step(self, steps, direction, stepstyle):
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s_per_s = self.sec_per_step
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lateststep = 0
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if (stepstyle == dw_Controller.MICROSTEP):
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s_per_s /= self.MICROSTEPS
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steps *= self.MICROSTEPS
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for s in range(steps):
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lateststep = self.oneStep(direction, stepstyle)
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time.sleep(s_per_s)
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if (stepstyle == dw_Controller.MICROSTEP):
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# this is an edge case, if we are in between full steps, lets just keep going
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# so we end on a full step
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while (lateststep != 0) and (lateststep != self.MICROSTEPS):
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lateststep = self.oneStep(dir, stepstyle)
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time.sleep(s_per_s)
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class dw_Motor:
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def __init__(self, controller, num):
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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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in2 = 2 #phase
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in1 = 3 #enable
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elif (num == 1):
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in2 = 4 #phase
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in1 = 5 #enable
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elif (num == 2):
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in2 = 6 #phase
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in1 = 7 #enable
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elif (num == 3):
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in2 = 8 #phase
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in1 = 9 #enable
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elif (num == 4):
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in2 = 10 #phase
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in1 = 11 #enable
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elif (num == 5):
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in2 = 12 #phase
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in1 = 13 #enable
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else:
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raise NameError('Motors must be between 1 and 6 inclusive')
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# for phase enable
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self.PHpin = in2
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self.ENpin = in1
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# for in/in
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self.IN2pin = in2
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self.IN1pin = in1
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# switch off
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self.run(dw_Controller.STOP, 0)
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def setMotorSpeed(self, value):
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# Check for PWM values
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if(value > 1000) and (value < 1500):
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self.run(dw_Controller.REVERSE, round(translate(value,1500,1000, 0, 255)))
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if(value > 1500) and (value <= 2000):
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self.run(dw_Controller.FORWARD, round(translate(value, 1500, 2000, 0, 255)))
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if(value == 1500):
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self.run(dw_Controller.STOP, 0)
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if(value > 0) and (value <= 255):
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self.run(dw_Controller.FORWARD, value)
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if(value == 0):
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self.run(dw_Controller.STOP, value)
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if(value < 0) and (value >= -255):
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self.run(dw_Controller.REVERSE, abs(value))
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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 (self.MC.getMode() == dw_Controller.PHASE):
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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.REVERSE):
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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.STOP):
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self.MC.setPin(self.PHpin, 0)
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self.MC.setPin(self.ENpin, 0)
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else: ## IN/IN mode
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if (command == dw_Controller.FORWARD):
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self.MC.setPin(self.IN2pin, 0)
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self.MC._pwm.set_pwm(self.IN1pin, 0, speed*16)
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if (command == dw_Controller.REVERSE):
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self.MC.setPin(self.IN1pin, 0)
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self.MC._pwm.set_pwm(self.IN2pin, 0, speed*16)
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if (command == dw_Controller.STOP):
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self.MC.setPin(self.IN1pin, 1)
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self.MC.setPin(self.IN2pin, 1)
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if (command == dw_Controller.COAST):
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self.MC.setPin(self.IN1pin, 0)
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self.MC.setPin(self.IN2pin, 0)
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def off(self):
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self.run(dw_Controller.STOP, 0)
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class dw_Servo:
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def __init__(self, controller, num, freq):
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_SERVO_MIN_MS = 1.250 #ms
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_SERVO_MAX_MS = 1.750 #ms
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self.speed = 0
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self.MC = controller
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self.cnum = num
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self.pin = 0
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self.freq = freq
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self.servo_min = math.trunc( ( _SERVO_MIN_MS * 4096 ) / (1000.0 / self.freq ) - 1 )
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self.servo_max = math.trunc( ( _SERVO_MAX_MS * 4096 ) / (1000.0 / self.freq ) - 1 )
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self.servo_zero = math.trunc( ( self.servo_min + self.servo_max ) / 2 ) # halfway = 0 degrees
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if (num == 0):
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self.pin = 0
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elif (num == 1):
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self.pin = 1
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else:
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raise NameError('Port must be between 0 and 1 inclusive')
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# switch off
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self.off()
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def off(self):
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self.MC.setPin(self.pin, 0)
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def setAngle(self, angle):
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pulse = self.servo_zero + ( (self.servo_zero - self.servo_min ) * angle / 80 )
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#print "angle=%s pulse=%s" % (angle, pulse)
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#self.setPWMmS( pulse )
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def setPWM(self, value):
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if(value > 0):
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self.MC._pwm.set_pwm(self.pin, 0, int(value) )
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if(value == 0):
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self.off()
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def setPWMmS(self, length_ms):
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self.setPWM( math.trunc( ( length_ms * 4096 ) / ( 1000.0 / self.freq ) ) - 1 )
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def setPWMuS(self, length_us):
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self.setPWM( math.trunc( ( length_us * 4096 ) / ( 1000000.0 / self.freq ) ) -1 )
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class dw_Controller:
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FORWARD = 1
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REVERSE = 2
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BRAKEFORWARD = 3
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BRAKEREVERSE = 4
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STOP = 5 #brake
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COAST = 6 # in/in only
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SINGLE = 1
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DOUBLE = 2
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INTERLEAVE = 3
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MICROSTEP = 4
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ININ = 0
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PHASE = 1
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def __init__(self, addr = 0x60, freq = 100, correctionFactor = 1.0):
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self._i2caddr = addr # default addr on HAT
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self._frequency = freq # default @1600Hz PWM freq
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# self.steppers = [ Adafruit_StepperMotor(self, 1), Adafruit_StepperMotor(self, 2) ]
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self._pwm = PCA9685(addr)
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self._pwm.set_pwm_freq(self._frequency, correctionFactor)
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# Just gonna default to high for now
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GPIO.setmode(GPIO.BCM)
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GPIO.setwarnings(False)
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GPIO.setup(27, GPIO.OUT)
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self.setMode(self.ININ) # set high for en/phase mode - low = in/in mode
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self.motors = [ dw_Motor(self, m) for m in range(6) ]
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self.servos = [ dw_Servo(self, m, freq) for m in range(2) ]
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self.steppers = [ dw_Stepper(self, m) for m in range(3) ]
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def setMode(self, mode = 1):
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if (mode == self.ININ):
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self._mode = self.ININ
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GPIO.output(27, GPIO.LOW)
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else:
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self._mode = self.PHASE
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GPIO.output(27, GPIO.HIGH)
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def getMode(self):
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return self._mode
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def setPin(self, pin, value):
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if (pin < 0) or (pin > 15):
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raise NameError('PWM pin must be between 0 and 15 inclusive')
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if (value != 0) and (value != 1):
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raise NameError('Pin value must be 0 or 1!')
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if (value == 0):
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self._pwm.set_pwm(pin, 0, 4096)
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if (value == 1):
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self._pwm.set_pwm(pin, 4096, 0)
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def setAllPin(self, value):
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if (pin < 0) or (pin > 15):
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raise NameError('PWM pin must be between 0 and 15 inclusive')
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if (value != 0) and (value != 1):
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raise NameError('Pin value must be 0 or 1!')
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if (value == 0):
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self._pwm.set_all_pwm(0, 4096)
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if (value == 1):
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self._pwm.set_all_pwm(4096, 0)
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def getMotor(self, num):
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if (num < 1) or (num > 6):
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raise NameError('Motors must be between 1 and 6 inclusive')
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return self.motors[num-1]
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def getServo(self, num):
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if (num < 1) or (num > 2):
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raise NameError('Servos must be between 1 and 2 inclusive')
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return self.servos[num-1]
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def getStepper(self, num):
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if (num < 1) or (num > 3):
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raise NameError('Stepper motors must be between 1 and 3 inclusive')
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return self.steppers[num-1]
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def setAllPWM(self, value):
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if(value > 0):
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self._pwm.set_all_pwm(0, value)
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if(value == 0):
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self.allOff()
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def setAllPWMmS(self, value):
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if(value > 0):
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self._pwm.set_all_pwm(0, value)
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if(value == 0):
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self.allOff()
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def setAllPWMuS(self, value):
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if(value > 0):
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self._pwm.set_all_pwm(0, value)
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if(value == 0):
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self.allOff()
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def allOff(self):
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this.setAllPin( 0 );
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def translate(value, leftMin, leftMax, rightMin, rightMax):
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# Figure out how 'wide' each range is
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leftSpan = leftMax - leftMin
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rightSpan = rightMax - rightMin
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# Convert the left range into a 0-1 range (float)
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valueScaled = float(value - leftMin) / float(leftSpan)
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# Convert the 0-1 range into a value in the right range.
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return rightMin + (valueScaled * rightSpan) |