class RaspberryPiMotor(Motor):
'''
Encapsulates communication to an underlying Adafruit motor HAT.
'''
def __init__(self, stepsPerRev=200):
initStep = 0
motorNum = 1
super(RaspberryPiMotor, self).__init__(initStep, stepsPerRev)
self.motor = Adafruit_MotorHAT(addr=0x70).getStepper(stepsPerRev, motorNum)
def __executeSteps(self, numSteps, stepType, direction, time_ms, updateSteps='20'):
self.setIsRunning(True)
sign = 1
if Motor.BACKWARD == direction:
sign = -1
self.motor.setSpeed(float(numSteps) / self.getStepsPerRevolution() / time_ms * 1000.0 * 60)
revs = int(numSteps / self.getStepsPerRevolution())
for _ in range(revs):
if not self.isRunning() :
break # Request to terminate early
self.motor.step(int(self.getStepsPerRevolution()), direction, stepType)
self.setCurrentstep(self.getCurrentstep() + self.getStepsPerRevolution() * sign)
remainingSteps = numSteps - (revs * self.getStepsPerRevolution())
if self.isRunning() :
self.motor.step(int(remainingSteps), direction, stepType)
self.setCurrentstep(self.getCurrentstep() + remainingSteps * sign)
self.setIsRunning(False)
return self.getCurrentstep()
def oneStep(self, direction, style):
return self.motor.oneStep(direction, style)
def step(self, steps, direction, style, time_ms, updateSteps=20):
self.__executeSteps(steps, style, direction, time_ms, updateSteps)
def turnOffMotor(self):
self.motor.run(Adafruit_MotorHAT.RELEASE)
