mirror of
https://github.com/danbulant/ambientlightdemo
synced 2026-05-19 04:18:32 +00:00
76 lines
2.5 KiB
Python
76 lines
2.5 KiB
Python
import RPi.GPIO as GPIO
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import time
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import atexit
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from gdmath import wrap
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class StepperMotor:
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pins = (17, 27, 22, 23)
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step_sleep = 0.01
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step_count = 200
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def __init__(self):
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GPIO.setmode( GPIO.BCM )
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for pin in self.pins:
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GPIO.setup( pin, GPIO.OUT )
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for pin in self.pins:
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GPIO.output( pin, GPIO.LOW )
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atexit.register(self.cleanup)
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def cleanup(self):
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for pin in self.pins:
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GPIO.output( pin, GPIO.LOW )
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GPIO.cleanup()
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def _set_pins(self, out1, out2, out3, out4):
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GPIO.output( self.pins[0], out1 )
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GPIO.output( self.pins[1], out2 )
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GPIO.output( self.pins[2], out3 )
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GPIO.output( self.pins[3], out4 )
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current_step = 0
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def _apply_single_step(self):
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current_step_abs = wrap(self.current_step, 0, 4)
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if current_step_abs%4==0:
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self._set_pins(GPIO.LOW, GPIO.LOW, GPIO.LOW, GPIO.HIGH)
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elif current_step_abs%4==1:
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self._set_pins(GPIO.LOW, GPIO.HIGH, GPIO.LOW, GPIO.LOW)
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elif current_step_abs%4==2:
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self._set_pins(GPIO.LOW, GPIO.LOW, GPIO.HIGH, GPIO.LOW)
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elif current_step_abs%4==3:
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self._set_pins(GPIO.HIGH, GPIO.LOW, GPIO.LOW, GPIO.LOW)
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time.sleep(self.step_sleep)
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def single_step(self):
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self.current_step += 1
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self._apply_single_step()
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def single_step_back(self):
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self.current_step -= 1
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self._apply_single_step()
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def step(self, steps):
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for _ in range(abs(steps)):
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if steps > 0:
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self.single_step()
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else:
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self.single_step_back()
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def pos(self):
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return self.current_step % self.step_count
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def fpos(self):
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return (self.current_step % self.step_count) / self.step_count
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def single_step_towards(self, target_pos):
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target_pos = target_pos % self.step_count
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current_pos = self.pos()
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if target_pos == current_pos:
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return
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# Determine shortest direction
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# includes wrap-around (it's a circular motion motor)
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diff = (target_pos - current_pos) % self.step_count
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if diff > self.step_count / 2:
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self.single_step_back()
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else:
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self.single_step()
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def angle_to_pos(self, angle):
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return int((angle % 360) / 360 * self.step_count)
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def fpos_to_pos(self, fpos):
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return int((fpos % 1) * self.step_count)
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stepper = StepperMotor()
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