Python StepperMotor.reverse Examples

Example #1

File: Omnibot.py Project: zohaibshabir/BB-8

class Omniwheel(object):
    
    def __init__ (self, pin1, pin2, pwmA, pin3, pin4, pwmB, steppingMode, wheelAngle):
        self.motor = StepperMotor(pin1, pin2, pwmA, pin3, pin4, pwmB, steppingMode)
        self.wheelAngle = wheelAngle
    
    def calculateVelocity (self, drivingAngle, drivingSpeed): 
        w = self.wheelAngle
        d = drivingAngle
        wheelSpeed = drivingSpeed * (math.cos(w) * math.cos(d) + math.sin(w) * math.sin(d))
        if wheelSpeed > 0:
            self.motor.forward(wheelSpeed)
        else:
            self.motor.reverse(abs(wheelSpeed))

Example #2

File: Omnibot.py Project: ericboehlke/BB-8

class Omniwheel(object):
    
    def __init__ (self, stepPin, directionPin, wheelAngle):
        self.motor = StepperMotor(stepPin, directionPin)
        self.wheelAngle = wheelAngle
    
    def calculateVelocity (self, drivingAngle, drivingSpeed): 
        w = self.wheelAngle
        d = drivingAngle
        wheelSpeed = drivingSpeed * (math.cos(w) * math.cos(d) + math.sin(w) * math.sin(d))
        if wheelSpeed > 0:
            self.motor.forward(wheelSpeed)
        else:
            self.motor.reverse(abs(wheelSpeed))
            
    def rotate (self, speed):
        if speed >= 0:
            self.motor.forward(speed)
        else:
            self.motor.reverse(abs(speed))

Example #3

File: StepperMotor_test.py Project: ericboehlke/BB-8

import Adafruit_BBIO.GPIO as GPIO
import time
from StepperMotor import * 

steppingMode = SteppingMode("P9_23", "P9_25", "P9_27")

motorBlue = StepperMotor("P9_22", "P9_24")
motorGreen = StepperMotor("P9_16", "P9_15")
motorYellow = StepperMotor("P9_42", "P9_41")

steppingMode.setMode(5)

motorBlue.forward(3)
motorGreen.forward(10)
motorYellow.forward(20)
time.sleep(2)
motorBlue.reverse(3)
motorGreen.reverse(10)
motorYellow.reverse(20)

time.sleep(10)

motorBlue.stop()
motorGreen.stop()
motorYellow.stop()

Example #4

File: StepperMotor_test.py Project: buriram/BB-8

import Adafruit_BBIO.GPIO as GPIO
import time
from StepperMotor import *

steppingMode = SteppingMode("P9_23", "P9_25", "P9_27")

motorBlue = StepperMotor("P9_22", "P9_24")
motorGreen = StepperMotor("P9_16", "P9_15")
motorYellow = StepperMotor("P9_42", "P9_41")

steppingMode.setMode(5)

motorBlue.forward(3)
motorGreen.forward(10)
motorYellow.forward(20)
time.sleep(2)
motorBlue.reverse(3)
motorGreen.reverse(10)
motorYellow.reverse(20)

time.sleep(10)

motorBlue.stop()
motorGreen.stop()
motorYellow.stop()