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https://github.com/KevinMidboe/curtains_avantGarde.git
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77 lines
2.5 KiB
Python
77 lines
2.5 KiB
Python
#CURRENT APPLICATION INFO
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#200 steps/rev
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#12V, 350mA
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#Big Easy driver = 1/16 microstep mode
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#Turn a 200 step motor left one full revolution: 3200
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from time import sleep
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import RPi.GPIO as gpio #https://pypi.python.org/pypi/RPi.GPIO
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#import exitHandler #uncomment this and line 58 if using exitHandler
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class Stepper:
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#instantiate stepper
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#pins = [stepPin, directionPin, enablePin]
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def __init__(self, pins):
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#setup pins
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self.pins = pins
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self.stepPin = self.pins[0]
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self.directionPin = self.pins[1]
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self.enablePin = self.pins[2]
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#use the broadcom layout for the gpio
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gpio.setmode(gpio.BCM)
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#set gpio pins
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gpio.setup(self.stepPin, gpio.OUT)
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gpio.setup(self.directionPin, gpio.OUT)
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gpio.setup(self.enablePin, gpio.OUT)
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#set enable to high (i.e. power is NOT going to the motor)
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gpio.output(self.enablePin, True)
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print("Stepper initialized (step=" + self.stepPin + ", direction=" + self.directionPin + ", enable=" + self.enablePin + ")")
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#clears GPIO settings
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def cleanGPIO(self):
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gpio.cleanup()
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#step the motor
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# steps = number of steps to take
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# dir = direction stepper will move
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# speed = defines the denominator in the waitTime equation: waitTime = 0.000001/speed. As "speed" is increased, the waitTime between steps is lowered
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# stayOn = defines whether or not stepper should stay "on" or not. If stepper will need to receive a new step command immediately, this should be set to "True." Otherwise, it should remain at "False."
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def step(self, steps, dir, speed=1, stayOn=False):
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#set enable to low (i.e. power IS going to the motor)
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gpio.output(self.enablePin, False)
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#set the output to true for left and false for right
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turnLeft = True
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if (dir == 'right'):
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turnLeft = False;
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elif (dir != 'left'):
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print("STEPPER ERROR: no direction supplied")
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return False
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gpio.output(self.directionPin, turnLeft)
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stepCounter = 0
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waitTime = 0.000001/speed #waitTime controls speed
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while stepCounter < steps:
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#gracefully exit if ctr-c is pressed
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#exitHandler.exitPoint(True) #exitHandler.exitPoint(True, cleanGPIO)
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#turning the gpio on and off tells the easy driver to take one step
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gpio.output(self.stepPin, True)
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gpio.output(self.stepPin, False)
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stepCounter += 1
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#wait before taking the next step thus controlling rotation speed
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sleep(waitTime)
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if (stayOn == False):
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#set enable to high (i.e. power is NOT going to the motor)
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gpio.output(self.enablePin, True)
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print("stepperDriver complete (turned " + dir + " " + str(steps) + " steps)")
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