def gpio_set_stepper(cmd, message, recdata, stepper_data):
msgarray = message.split(":")
messagelen = len(msgarray)
Interface = msgarray[1]
Interface_Number = int(
Interface) # this is the interface on same I2C board
direction = msgarray[2]
speed = int(msgarray[3])
steps = int(msgarray[4])
# following instructions have been removed as in case there is cuncurrency, then better not to wait, automation will eventually repeat the command
#waitstep=0.1
#waittime=0
#maxwait=2.5
#while (read_status_data(stepper_data,Interface,"busyflag")==True)and(waittime<maxwait):
# time.sleep(waitstep)
# waittime=waittime+waitstep
if read_status_data(stepper_data, Interface, "busyflag"):
# check how long the busyflag has been True
lasttime = read_status_data(stepper_data, Interface, "busyflagtime")
deltat = datetime.datetime.utcnow() - lasttime
if deltat.total_seconds() > 600: # 600 seconds = 10 minutes
# someting wrong, try to reset the stepper controller
logger.warning(
"Stepper busy status Time exceeded, reset stepper controller: %s ************",
Interface)
write_status_data(stepper_data, Interface, "busyflag", False)
#reset
mh = Adafruit_MotorHAT()
mh.reset()
else:
print("Stepper busy ")
logger.warning("Stepper Busy, not proceeding with stepper: %s",
Interface)
return False
write_status_data(stepper_data, Interface, "busyflag", True)
write_status_data(stepper_data, Interface, "busyflagtime",
datetime.datetime.utcnow())
# stepper is no busy, proceed
# try:
# create a default object, no changes to I2C address or frequency
mh = Adafruit_MotorHAT()
# set motor parameters
myStepper = mh.getStepper(
200, Interface_Number) # 200 steps/rev, motor port #1 or #2
myStepper.setSpeed(speed) # 30 RPM
#print "Double coil steps"
if direction == "FORWARD":
myStepper.step(steps, Adafruit_MotorHAT.FORWARD,
Adafruit_MotorHAT.DOUBLE)
elif direction == "BACKWARD":
myStepper.step(steps, Adafruit_MotorHAT.BACKWARD,
Adafruit_MotorHAT.DOUBLE)
# turn off motors
mh.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
del mh
try:
write_status_data(stepper_data, Interface, "busyflag", False)
except:
print("problem I2C stepper controller")
logger.error("problem I2C stepper controller")
write_status_data(stepper_data, Interface, "busyflag", False)
return False
#print "stepper: Interface", Interface_Number , " direction=", direction , " speed=", speed , " steps=", steps
recdata.append(cmd)
recdata.append(Interface_Number)
return True
def gpio_set_stepper(cmd, message, recdata, stepper_data):
msgarray = message.split(":")
messagelen = len(msgarray)
Interface = msgarray[1]
Interface_Number = int(
Interface) # this is the interface on same I2C board
direction = msgarray[2]
speed = int(msgarray[3])
steps = int(msgarray[4])
waitstep = 0.1
waittime = 0
maxwait = 2.5
while (read_status_data(stepper_data, Interface, "busyflag")
== True) and (waittime < maxwait):
time.sleep(waitstep)
waittime = waittime + waitstep
print "Stepper wait time -----> ", waittime
if (waittime >= maxwait):
#something wrog, wait too long, avoid initiate further processing
# check how long the busyflag has been True
lasttime = read_status_data(stepper_data, Interface, "busyflagtime")
deltat = datetime.datetime.utcnow() - lasttime
if deltat.total_seconds() > 600: # 600 seconds = 10 minutes
# someting wrong, try to reset the stepper controller
logger.warning(
"Stepper busy status Time exceeded, reset stepper controller: %s ************",
Interface)
write_status_data(stepper_data, Interface, "busyflag", False)
#reset
mh = Adafruit_MotorHAT()
mh.reset()
else:
print "Stepper wait time EXCEEDED "
logger.warning(
"Stepper Wait Time exceeded, not proceeding with stepper: %s",
Interface)
return False
write_status_data(stepper_data, Interface, "busyflag", True)
write_status_data(stepper_data, Interface, "busyflagtime",
datetime.datetime.utcnow())
# stepper is no busy, proceed
# create a default object, no changes to I2C address or frequency
mh = Adafruit_MotorHAT()
# set motor parameters
myStepper = mh.getStepper(
200, Interface_Number) # 200 steps/rev, motor port #1 or #2
myStepper.setSpeed(speed) # 30 RPM
print "Double coil steps"
if direction == "FORWARD":
myStepper.step(steps, Adafruit_MotorHAT.FORWARD,
Adafruit_MotorHAT.DOUBLE)
elif direction == "BACKWARD":
myStepper.step(steps, Adafruit_MotorHAT.BACKWARD,
Adafruit_MotorHAT.DOUBLE)
print "stepper: Interface", Interface_Number, " direction=", direction, " speed=", speed, " steps=", steps
recdata.append(cmd)
recdata.append(Interface_Number)
# turn off motors
mh.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
del mh
write_status_data(stepper_data, Interface, "busyflag", False)
return True