#!/usr/bin/env python3
'''
This program tests whether the switch is working by continuously checking the state,
and printing a message when it detects a switch change
'''
from Switch import Switch
s = Switch()
while True:
if s.is_changed_state():
print("switch pressed")
class Stepper2:
'''
Initialize the class, setup pins and switch
'''
def __init__(self):
GPIO.setup(pin_dir, GPIO.OUT)
GPIO.setup(pin_step, GPIO.OUT)
print("pins set up")
self.inches = 0
self.switch = Switch()
self.start = time.time()
self.lc = lcm.LCM()
'''
Convert inches to degrees using 8 mm per revolution
'''
def inches_to_degrees(self, inches):
return inches / 0.3149 * 360 #8 mm per revolution
'''
Convert degrees to inches using 8 mm per revolution
'''
def degrees_to_inches(self, degrees):
return degrees / 360 * 0.3149
'''
Helper function
Rotate the motor for a specified amount of degrees, at a specified rpm,
in a specified direction
'''
def step(self, degrees, rpm, direction):
sleep_time = 0.3 / float(rpm) / 2
steps_forward = int(degrees / 1.8)
for x in range(0, steps_forward):
GPIO.output(pin_step, GPIO.LOW)
time.sleep(sleep_time)
GPIO.output(pin_step, GPIO.HIGH)
time.sleep(sleep_time)
self.inches += direction * self.degrees_to_inches(1.8)
self.cleanup()
'''
Helper function
Rotate the motor in an infinite loop at a specified rpm in a specified direction
Sends data over lcm
Stops if switch is pressed
'''
def step_infinite(self, rpm, direction):
print("step_infinite")
sleep_time = 0.3 / float(rpm) / 2
self.start = time.time()
while True:
# check switch
if self.switch.is_changed_state():
print("switch changed")
#self.inches = 0
# send data one last time so that new switch state is captured
msg = battery()
msg.inches = self.inches
msg.switch = self.switch.state
msg.timestamp = datetime.strftime(datetime.now(),
datetime_format)
self.lc.publish("battery_data", msg.encode())
self.cleanup()
break
# step
GPIO.output(pin_step, GPIO.LOW)
time.sleep(sleep_time)
GPIO.output(pin_step, GPIO.HIGH)
time.sleep(sleep_time)
self.inches += direction * self.degrees_to_inches(1.8)
# every 10 Hz send the data over lcm
if (time.time() - self.start >= 0.1): # 10 Hz
msg = battery()
msg.inches = self.inches
msg.switch = self.switch.state
msg.timestamp = datetime.strftime(datetime.now(),
datetime_format)
self.lc.publish("battery_data", msg.encode())
self.start = time.time()
'''
Function to rotate clockwise at specified rpm and for specified degrees
'''
def step_clockwise_degrees(self, degrees, rpm):
GPIO.output(pin_dir, GPIO.HIGH)
self.step(degrees, rpm, -1) # back
'''
Function to rotate counterclockwise at specified rpm and for specified degrees
'''
def step_counterclockwise_degrees(self, degrees, rpm):
GPIO.output(pin_dir, GPIO.LOW)
self.step(degrees, rpm, 1) # forward
'''
Function to rotate clockwise at specified rpm and for specified inches
'''
def step_clockwise_inches(self, inches, rpm):
degrees = self.inches_to_degrees(inches)
self.step_clockwise_degrees(degrees, rpm)
'''
Function to rotate counterclockwise at specified rpm and for specified inches
'''
def step_counterclockwise_inches(self, inches, rpm):
degrees = self.inches_to_degrees(inches)
self.step_counterclockwise_degrees(degrees, rpm)
'''
Function to rotate clockwise at specified rpm infinitely
'''
def step_clockwise_infinite(self, rpm):
GPIO.output(pin_dir, GPIO.HIGH)
self.step_infinite(rpm, -1) # back
'''
Function to rotate counterclockwise at specified rpm infinitely
'''
def step_counterclockwise_infinite(self, rpm):
GPIO.output(pin_dir, GPIO.LOW)
self.step_infinite(rpm, 1) # forward
'''
Function to update stored traveled inches to specified inches
'''
def update_inches(self, inches):
self.inches = inches
'''
Function to return traveled inches stored in the object
'''
def get_inches(self):
return inches
'''
Function to cleanup pins used by the stepper motor
'''
def cleanup():
GPIO.cleanup()
