#!/usr/bin/env python3 # from following url: # http://www.eeweb.com/project/mohd_kashif/controlling-of-stepper-motors-using-raspberry-pi # sudo apt-get install python3-rpi.gpio # https://sourceforge.net/p/raspberry-gpio-python/wiki/Examples/ # https://sourceforge.net/p/raspberry-gpio-python/wiki/Home/ # Documentation # http://elinux.org/RPi_GPIO_Code_Samples#RPi.GPIO # https://www.google.com/?gws_rd=ssl#q=raspberry+pi+python+import+RPi.GPIO+as+GPIO&start=10 import RPi.GPIO as GPIO import time #s Proc Print Sequence def prtseq(seqName, seq): #s Print the sequence name print(seqName) #s Print each sequence item for i in range(0,len(seq)): print("seq[",i,"]=",seq[i]) #s endproc #s Proc Rotate To def rotateTo(direction, loc): global lastPosition global stepCount rotate_direction=direction #s While not at desired position while lastPosition!=loc: #s Increment/Decrement to next position stepCount+=rotate_direction if stepCount<0: stepCount=len(seq)-1 elif stepCount>=len(seq): stepCount=0 lastPosition+=rotate_direction if lastPosition>200: lastPosition=1 elif lastPosition<1: lastPosition=200 #s Set output pins to correct value for step GPIO.output(PiPins,seq[stepCount]) time.sleep(waitTime) #s endWhile #s endproc #s MainProc # ============ main starts here ==================== #s Initialize print("GPIO.VERSION=", GPIO.VERSION) mydebug=False waitTime=0.003 waitTime=0.003 lastPosition=1 #s define possible sequences for movement seq0 = [0,1,2,3] seq0[0]=[1,1,1,1] seq0[1]=[0,0,0,0] seq0[2]=[1,1,1,1] seq0[3]=[0,0,0,0] prtseq ("seq0", seq0) seq1 = [0,1,2,3] seq1[0]=[1,0,0,0] seq1[1]=[0,1,0,0] seq1[2]=[0,0,1,0] seq1[3]=[0,0,0,1] prtseq ("seq1", seq1) seq2 = [0,1,2,3] seq2[0]=[1,0,1,0] seq2[1]=[0,1,1,0] seq2[2]=[0,1,0,1] seq2[3]=[1,0,0,1] prtseq ("seq2", seq2) seq3 = [0,1,2,3,4,5,6,7] seq3[0]=[1,0,0,0] seq3[1]=[1,1,0,0] seq3[2]=[0,1,0,0] seq3[3]=[0,1,1,0] seq3[4]=[0,0,1,0] seq3[5]=[0,0,1,1] seq3[6]=[0,0,0,1] seq3[7]=[1,0,0,1] prtseq ("seq3", seq3) seq4 = [0,1,2,3] seq4[0]=[1,1,0,0] seq4[1]=[0,1,1,0] seq4[2]=[0,0,1,1] seq4[3]=[1,0,0,1] prtseq ("seq4", seq4) #s Choose Raspberry Pi P1 pins to use (board values) #PiPins = [7,12,11,15] #PiPins = [11,15,16,18] #PiPins = [7,12,10,8] PiPins = [3,5,10,8] #PiPins = [11,13,10,8] print("PiPins=",PiPins) #s determine if input need to be inverted (using transistors) invertIn=input("Invert inpUts (I,i - default) or Non-invert (N,n)") invert=True if invertIn in ["N","n"]: invert=False if invert: invertTrue=False invertFalse=True else: invertTrue=True invertFalse=False #s Initialize GPIO Package GPIO.setwarnings(False) GPIO.cleanup() GPIO.setmode(GPIO.BOARD) # vs GPIO.BCM values for pin in PiPins: if mydebug: print("setting up pi pin: ", pin) print("setting up pi pin: ", pin) GPIO.setup(pin, GPIO.OUT) GPIO.setwarnings(True) #s Test output pins/lights # set all pins for output and turn on for pin in PiPins: GPIO.output(pin, invertTrue) if mydebug: input("Ready? (all lights on)") time.sleep(0.5) # set all pins for output and turn off for pin in PiPins: GPIO.output(pin, invertFalse) if mydebug: input("Ready? (all lights off)") time.sleep(0.5) #s While User wants to do another test goAgain=True stepCount=0 while goAgain: #s Ask user for which sequence to use #s (currently fixed as sequence #2) seqSelect=2 #seqSelect=input("Enter sequence number to use (0-4): ") #s Case Chosen Selection if seqSelect=="": seqSelect="0" #s Select Sequence 0 if int(seqSelect)==0: seq=seq0 seqName="seq0" #s Select Sequence 1 elif int(seqSelect)==1: seq=seq1 seqName="seq1" #s Select Sequence 2 elif int(seqSelect)==2: seq=seq2 seqName="seq2" #s Select Sequence 3 elif int(seqSelect)==3: seq=seq3 seqName="seq3" #s Select Sequence 4 else: seq=seq4 seqName="seq4" #s Endcase print( "Using : ",seqName) #s Ask user for steps or time (in negative seconds) moveCount=0 movesIn=input("How many moves (for timing, use neg. number of secs - default=4 steps)? ") if movesIn=="": movesIn="4" maxMoves=int(movesIn) timeRun=False if maxMoves<0: timeRun=True maxTime=-maxMoves maxMoves=10 #s Ask user for which direction to rotate (which way to setep sequence) inDir=input("Rotation Direction [F=forward (default) or R=reverse]: ") if inDir in ["R","r"]: rotate_direction=-1 else: rotate_direction=+1 manual=input("Enter Y or y to manually step after each move: ") waitUser=False if manual=="Y": waitUser=True if manual=="y": waitUser = True # stepCount=0 #s While steping remains to be done #print("move #1 ====") try: initTime=time.time() while True: # Increment/Decrement to next position #print("Before Incr= moveCount:",moveCount," stepCount:",stepCount) stepCount+=rotate_direction if stepCount<0: stepCount=len(seq)-1 elif stepCount>=len(seq): stepCount=0 lastPosition+=rotate_direction if lastPosition>200: lastPosition=1 elif lastPosition<1: lastPosition=200 moveCount+=1 #print("After Incr= moveCount:",moveCount," stepCount:",stepCount) #s Set output pins to correct value for step if waitUser: print (seq[stepCount]) GPIO.output(PiPins,seq[stepCount]) #for pinSelect in range(0,4): #pin=PiPins[pinSelect] #if mydebug: #time.sleep(0.05) #if seq[stepCount][pinSelect]==1: #setVal=invertTrue #else: #setVal=invertFalse #GPIO.output(pin, setVal) #if mydebug: #time.sleep(0.05) #if mydebug: #print("pin=",pin, ", output set to:",setVal) #s Wait for user or automatically step # wait before sending next step time.sleep(waitTime) curTime=time.time() if timeRun: if (curTime-initTime)>=maxTime: break else: if moveCount>=maxMoves: break #print("move #",(moveCount+1)," ====") if waitUser: input("Press enter to continue") #s endwhile print ("moveCount: ", moveCount,", time elapsed: ",(curTime-initTime)) except IOError as err: print("Exception: ", err) print("Error number: ",err.errno) #finally: #print("Finally") #s Ask user if he wants to do another test anotherRound=input("Enter S to stop: ") goAgain=not (anotherRound in ["S","s"]) #print (goAgain) #s endwhile input("Press enter when ready to cleanup?") rotateTo(1,1) #s Move back and forth and move to original position using rotateTo time.sleep(2.0) rotateTo(1,50) time.sleep(2.0) rotateTo(-1,150) time.sleep(2.0) rotateTo(1,1) #s Turn off all power to motor if mydebug: input("Press enter when ready to turn off all?") for pin in PiPins: GPIO.output(pin, invertFalse) #GPIO.setwarnings(False) #GPIO.cleanup() #GPIO.setwarnings(True) #s endmain exit()