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Copy pathRaspi_MotorHAT.py
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Raspi_MotorHAT.py
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#!/usr/bin/python
from Raspi_PWM_Servo_Driver import PWM
import time
class Raspi_StepperMotor:
MICROSTEPS = 8
MICROSTEP_CURVE = [0, 50, 98, 142, 180, 212, 236, 250, 255]
#MICROSTEPS = 16
# a sinusoidal curve NOT LINEAR!
#MICROSTEP_CURVE = [0, 25, 50, 74, 98, 120, 141, 162, 180, 197, 212, 225, 236, 244, 250, 253, 255]
def __init__(self, controller, num, steps=200):
self.MC = controller
self.revsteps = steps
self.motornum = num
self.sec_per_step = 0.1
self.steppingcounter = 0
self.currentstep = 0
num -= 1
if (num == 0):
self.PWMA = 8
self.AIN2 = 9
self.AIN1 = 10
self.PWMB = 13
self.BIN2 = 12
self.BIN1 = 11
elif (num == 1):
self.PWMA = 2
self.AIN2 = 3
self.AIN1 = 4
self.PWMB = 7
self.BIN2 = 6
self.BIN1 = 5
else:
raise NameError('MotorHAT Stepper must be between 1 and 2 inclusive')
def setSpeed(self, rpm):
self.sec_per_step = 60.0 / (self.revsteps * rpm)
self.steppingcounter = 0
def oneStep(self, dir, style):
pwm_a = pwm_b = 255
# first determine what sort of stepping procedure we're up to
if (style == Raspi_MotorHAT.SINGLE):
if ((self.currentstep/(self.MICROSTEPS/2)) % 2):
# we're at an odd step, weird
if (dir == Raspi_MotorHAT.FORWARD):
self.currentstep += self.MICROSTEPS/2
else:
self.currentstep -= self.MICROSTEPS/2
else:
# go to next even step
if (dir == Raspi_MotorHAT.FORWARD):
self.currentstep += self.MICROSTEPS
else:
self.currentstep -= self.MICROSTEPS
if (style == Raspi_MotorHAT.DOUBLE):
if not (self.currentstep/(self.MICROSTEPS/2) % 2):
# we're at an even step, weird
if (dir == Raspi_MotorHAT.FORWARD):
self.currentstep += self.MICROSTEPS/2
else:
self.currentstep -= self.MICROSTEPS/2
else:
# go to next odd step
if (dir == Raspi_MotorHAT.FORWARD):
self.currentstep += self.MICROSTEPS
else:
self.currentstep -= self.MICROSTEPS
if (style == Raspi_MotorHAT.INTERLEAVE):
if (dir == Raspi_MotorHAT.FORWARD):
self.currentstep += self.MICROSTEPS/2
else:
self.currentstep -= self.MICROSTEPS/2
if (style == Raspi_MotorHAT.MICROSTEP):
if (dir == Raspi_MotorHAT.FORWARD):
self.currentstep += 1
else:
self.currentstep -= 1
# go to next 'step' and wrap around
self.currentstep += self.MICROSTEPS * 4
self.currentstep %= self.MICROSTEPS * 4
pwm_a = pwm_b = 0
if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS - self.currentstep]
pwm_b = self.MICROSTEP_CURVE[self.currentstep]
elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS]
pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*2 - self.currentstep]
elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS*3 - self.currentstep]
pwm_b = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*2]
elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4):
pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*3]
pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*4 - self.currentstep]
# go to next 'step' and wrap around
self.currentstep += self.MICROSTEPS * 4
self.currentstep %= self.MICROSTEPS * 4
# only really used for microstepping, otherwise always on!
self.MC._pwm.setPWM(self.PWMA, 0, pwm_a*16)
self.MC._pwm.setPWM(self.PWMB, 0, pwm_b*16)
# set up coil energizing!
coils = [0, 0, 0, 0]
if (style == Raspi_MotorHAT.MICROSTEP):
if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
coils = [1, 1, 0, 0]
elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
coils = [0, 1, 1, 0]
elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
coils = [0, 0, 1, 1]
elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4):
coils = [1, 0, 0, 1]
else:
step2coils = [ [1, 0, 0, 0],
[1, 1, 0, 0],
[0, 1, 0, 0],
[0, 1, 1, 0],
[0, 0, 1, 0],
[0, 0, 1, 1],
[0, 0, 0, 1],
[1, 0, 0, 1] ]
coils = step2coils[self.currentstep/(self.MICROSTEPS/2)]
#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])
self.MC.setPin(self.BIN2, coils[3])
return self.currentstep
def step(self, steps, direction, stepstyle):
s_per_s = self.sec_per_step
lateststep = 0
if (stepstyle == Raspi_MotorHAT.INTERLEAVE):
s_per_s = s_per_s / 2.0
if (stepstyle == Raspi_MotorHAT.MICROSTEP):
s_per_s /= self.MICROSTEPS
steps *= self.MICROSTEPS
print s_per_s, " sec per step"
for s in range(steps):
lateststep = self.oneStep(direction, stepstyle)
time.sleep(s_per_s)
if (stepstyle == Raspi_MotorHAT.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 Raspi_DCMotor:
def __init__(self, controller, num):
self.MC = controller
self.motornum = num
pwm = in1 = in2 = 0
if (num == 0):
pwm = 8
in2 = 9
in1 = 10
elif (num == 1):
pwm = 13
in2 = 12
in1 = 11
elif (num == 2):
pwm = 2
in2 = 3
in1 = 4
elif (num == 3):
pwm = 7
in2 = 6
in1 = 5
else:
raise NameError('MotorHAT Motor must be between 1 and 4 inclusive')
self.PWMpin = pwm
self.IN1pin = in1
self.IN2pin = in2
def run(self, command):
if not self.MC:
return
if (command == Raspi_MotorHAT.FORWARD):
self.MC.setPin(self.IN2pin, 0)
self.MC.setPin(self.IN1pin, 1)
if (command == Raspi_MotorHAT.BACKWARD):
self.MC.setPin(self.IN1pin, 0)
self.MC.setPin(self.IN2pin, 1)
if (command == Raspi_MotorHAT.RELEASE):
self.MC.setPin(self.IN1pin, 0)
self.MC.setPin(self.IN2pin, 0)
def setSpeed(self, speed):
if (speed < 0):
speed = 0
if (speed > 255):
speed = 255
self.MC._pwm.setPWM(self.PWMpin, 0, speed*16)
class Raspi_MotorHAT:
FORWARD = 1
BACKWARD = 2
BRAKE = 3
RELEASE = 4
SINGLE = 1
DOUBLE = 2
INTERLEAVE = 3
MICROSTEP = 4
def __init__(self, addr = 0x60, freq = 1600):
self._i2caddr = addr # default addr on HAT
self._frequency = freq # default @1600Hz PWM freq
self.motors = [ Raspi_DCMotor(self, m) for m in range(4) ]
self.steppers = [ Raspi_StepperMotor(self, 1), Raspi_StepperMotor(self, 2) ]
self._pwm = PWM(addr, debug=False)
self._pwm.setPWMFreq(self._frequency)
def setPin(self, pin, value):
if (pin < 0) or (pin > 15):
raise NameError('PWM pin must be between 0 and 15 inclusive')
if (value != 0) and (value != 1):
raise NameError('Pin value must be 0 or 1!')
if (value == 0):
self._pwm.setPWM(pin, 0, 4096)
if (value == 1):
self._pwm.setPWM(pin, 4096, 0)
def getStepper(self, steps, num):
if (num < 1) or (num > 2):
raise NameError('MotorHAT Stepper must be between 1 and 2 inclusive')
return self.steppers[num-1]
def getMotor(self, num):
if (num < 1) or (num > 4):
raise NameError('MotorHAT Motor must be between 1 and 4 inclusive')
return self.motors[num-1]