class StepperCommand(Command): def __init__(self, command_id): super().__init__(command_id, 'i16') self.delimiter_pin = pyb.Pin("Y2", pyb.Pin.IN, pyb.Pin.PULL_UP) self.stepper = Stepper(200, "Y3", "Y4", "Y5", "Y6") self.stepper.set_speed(25) self.calibrate() def callback(self, steps): self.stepper.step(steps) def calibrate(self): # print("calibrating stepper") # print(self.delimiter_pin.value()) # while self.delimiter_pin.value(): # self.stepper.step(20) # print(self.delimiter_pin.value()) # # self.stepper.step(100) # center steering # print("calibrated!") print("Skipping calibration") def reset(self): # recalibrate with delimiter self.calibrate()
import pyb from libraries.stepper import Stepper stepper = Stepper(200, "Y3", "Y4", "Y5", "Y6") stepper.set_speed(25) while True: steps = int(input("steps: ")) stepper.step(steps) pyb.delay(500)