class easydriver(object):
def __init__(self,pin_step=0,delay=0.1,pin_direction=0,pin_ms1=0,pin_ms2=0,pin_ms3=0,\
pin_sleep=0,pin_enable=0,pin_reset=0,name="Stepper",pin_left_end=0,pin_right_end=0):
self.pin_step = pin_step
self.delay = delay / 2
self.abs_position=self.read_abs_position()
self.pin_direction = pin_direction
self.direction=True
self.pin_microstep_1 = pin_ms1
self.pin_microstep_2 = pin_ms2
self.pin_microstep_3 = pin_ms3
self.pin_sleep = pin_sleep
self.pin_enable = pin_enable
self.pin_reset = pin_reset
self.name = name
self.pin_left_end = pin_left_end
self.pin_right_end = pin_right_end
self.left_switch = Switch(pin_left_end)
self.right_switch = Switch(pin_right_end)
self.left_limit=0
self.right_limit=100
gpio.setmode(gpio.BCM)
gpio.setwarnings(False)
if self.pin_step > 0:
gpio.setup(self.pin_step, gpio.OUT)
if self.pin_direction > 0:
gpio.setup(self.pin_direction, gpio.OUT)
gpio.output(self.pin_direction, True)
if self.pin_microstep_1 > 0:
gpio.setup(self.pin_microstep_1, gpio.OUT)
gpio.output(self.pin_microstep_1, False)
if self.pin_microstep_2 > 0:
gpio.setup(self.pin_microstep_2, gpio.OUT)
gpio.output(self.pin_microstep_2, False)
if self.pin_microstep_3 > 0:
gpio.setup(self.pin_microstep_3, gpio.OUT)
gpio.output(self.pin_microstep_3, False)
if self.pin_sleep > 0:
gpio.setup(self.pin_sleep, gpio.OUT)
gpio.output(self.pin_sleep,True)
if self.pin_enable > 0:
gpio.setup(self.pin_enable, gpio.OUT)
gpio.output(self.pin_enable,False)
if self.pin_reset > 0:
gpio.setup(self.pin_reset, gpio.OUT)
gpio.output(self.pin_reset,True)
self.sleep()
def step(self):
if self.left_limit<self.abs_position and self.direction or self.abs_position<self.right_limit and not self.direction:
self.wake()
gpio.output(self.pin_step,True)
time.sleep(self.delay)
gpio.output(self.pin_step,False)
time.sleep(self.delay)
if not self.direction:
self.add_to_abs_position(1)
else:
self.add_to_abs_position(-1)
print(self.abs_position)
def set_direction(self,direction):
self.direction=direction
gpio.output(self.pin_direction,self.direction)
def set_full_step(self):
gpio.output(self.pin_microstep_1,False)
gpio.output(self.pin_microstep_2,False)
gpio.output(self.pin_microstep_3,False)
def set_half_step(self):
gpio.output(self.pin_microstep_1,True)
gpio.output(self.pin_microstep_2,False)
gpio.output(self.pin_microstep_3,False)
def set_quarter_step(self):
gpio.output(self.pin_microstep_1,False)
gpio.output(self.pin_microstep_2,True)
gpio.output(self.pin_microstep_3,False)
def set_eighth_step(self):
gpio.output(self.pin_microstep_1,True)
gpio.output(self.pin_microstep_2,True)
gpio.output(self.pin_microstep_3,False)
def set_sixteenth_step(self):
gpio.output(self.pin_microstep_1,True)
gpio.output(self.pin_microstep_2,True)
gpio.output(self.pin_microstep_3,True)
def add_to_abs_position(self,delta):
self.abs_position+=delta
self.write_abs_position(str(self.abs_position))
def set_abs_position_zero(self):
self.abs_position=0
self.write_abs_position(self.abs_position)
def sleep(self):
gpio.output(self.pin_sleep,False)
def wake(self):
gpio.output(self.pin_sleep,True)
def disable(self):
gpio.output(self.pin_enable,True)
def enable(self):
gpio.output(self.pin_enable,False)
def reset(self):
gpio.output(self.pin_reset,False)
time.sleep(1)
gpio.output(self.pin_reset,True)
def set_delay(self, delay):
self.delay = delay / 2
def read_abs_position(self):
file=open('abs_pos.txt','r')
self.abs_position=eval(file.readline())
file.close()
return self.abs_position
def write_abs_position(self, abs_pos):
file=open('abs_pos.txt','w')
file.write(str(abs_pos))
file.close()
self.abs_position=int(abs_pos)
def left_switch_status(self):
return self.left_switch.switch_status()
def find_left_end_stop(self):
self.set_direction(False)
while not (self.left_switch_status()):
self.step()
self.set_abs_position_zero()
def finish(self):
if self.pin_sleep!=0:
self.sleep()
gpio.cleanup()
