#Moves a stepper motor for 1 seconds import RoboPiLib_pwm as RPL import setup import time pul_pin = 1 dir_pin = 2 #direction can equal 0 or 1 for forwards or backwards direction = 0 #The smaller the speed, the faster the rotation speed = 500 RPL.pinMode(pul_pin, RPL.PWM) RPL.pinMode(direction_pin, RPL.OUTPUT) RPL.digitalWrite(dir_pin, direction) RPL.pwmWrite(pul_pin, speed, speed * 2) time.sleep(1) RPL.pwmWrite(pul_pin, 0, 0)
swivel_continuous = 1 #pin for swivel motor
ppin_shoulder = 5 #pin number for shoulder potentiometer
ppin_elbow = 6 #pin number for elbow potentiomenter
ppin_swivel = 7 #pin number for swivel potentiomenter
print "shoulder_pul", shoulder_pul
print "shoulder_dir", shoulder_dir
print "elbow_pul", elbow_pul
print "elbow_dir", elbow_dir
print "swivel_continuous", swivel_continuous
print "ppin_shoulder", ppin_shoulder
print "ppin_elbow", ppin_elbow
print "ppin_swivel", ppin_swivel
RPL.pinMode(
shoulder_pul,
RPL.PWM) #set shoulder_pul pin as a pulse-width modulation output
RPL.pinMode(
shoulder_dir,
RPL.OUTPUT) #set shoulder_dir pin to an output and write 1 to it
RPL.pinMode(elbow_pul,
RPL.PWM) #set elbow_pul pin as a pulse-width modulation output
RPL.pinMode(elbow_dir,
RPL.OUTPUT) #set elbow_dir pin to an output and write 1 to it
except:
print 'Motors unrunnable: unable to reach RoboPiLib_pwm'
import math #to calculate all angle values
RPL.RoboPiInit("/dev/ttyAMA0", 115200)
shoulder_pul = 6
shoulder_dir = 7
elbow_pul = 1
elbow_dir = 2
print shoulder_pul, " shoulder_pul"
print shoulder_dir, " shoulder_dir"
print elbow_pul, " elbow_pul"
print elbow_dir, " elbow_dir"
up = True
down = False
RPL.pinMode(shoulder_pul, RPL.PWM)
RPL.pinMode(shoulder_dir, RPL.OUTPUT)
RPL.pinMode(elbow_pul, RPL.PWM)
RPL.pinMode(elbow_dir, RPL.OUTPUT)
speed = 1000
def stop():
RPL.pwmWrite(shoulder_pul, 0, 10000)
RPL.pwmWrite(elbow_pul, 0, 10000)
def shoulder(dir, run_for=1, speed=speed):
run_for = run_for * 2291 / speed
if (dir):
