def do_steps(self, delay):
if self.delay > delay:
self.delay = math.exp(-self.count) + 0.0005
self.count = self.count + 0.01
GPIO.setmode(GPIO.BCM)
GPIO.setup(DIR, GPIO.OUT)
GPIO.setup(STEP, GPIO.OUT)
GPIO.output(STEP, GPIO.HIGH)
sleep(self.delay)
GPIO.output(STEP, GPIO.LOW)
sleep(self.delay)
self.steps_taken += 1
self.update_position()
Observable.dispatch(self, str(self.get_x()) + ";" + str(self.get_y()))
def do_steps_slow(self):
if self.delay > 0.001:
self.delay = math.exp(-self.count) + 0.0005
self.count = self.count + 0.0075
GPIO.setmode(GPIO.BCM)
GPIO.setup(DIR, GPIO.OUT)
GPIO.setup(STEP, GPIO.OUT)
GPIO.output(STEP, GPIO.HIGH)
sleep(self.delay)
GPIO.output(STEP, GPIO.LOW)
sleep(self.delay)
self.steps_taken += 1
self.update_position()
print("[ StepperH ] Steps taken: " + str(self.steps_taken))
Observable.dispatch(self, str(self.get_x()) + ";" + str(self.get_y()))
