def stepper1(self):
""":py:class:`~adafruit_motor.stepper.StepperMotor` controls for one connected to stepper 1
(also labeled motor 1 and motor 2).
.. image :: /_static/motor_featherwing/stepper1.jpg
:alt: Stepper 1 location
This example moves the stepper motor 100 steps forwards.
.. code-block:: python
from adafruit_featherwing import motor_featherwing
wing = motor_featherwing.MotorFeatherWing()
for i in range(100):
wing.stepper1.onestep()"""
if not self._stepper1:
if self._motor1 or self._motor2:
raise RuntimeError(
"Cannot use stepper1 at the same time as motor1 or motor2."
)
self._pca.channels[8].duty_cycle = 0xffff
self._pca.channels[13].duty_cycle = 0xffff
self._stepper1 = stepper.StepperMotor(self._pca.channels[10],
self._pca.channels[9],
self._pca.channels[11],
self._pca.channels[12])
return self._stepper1
def test_double_to_single():
"""Tests double to single movement"""
coil = (Coil(), Coil(), Coil(), Coil())
# We undo the coil order so our tests make more sense.
motor = stepper.StepperMotor(coil[2], coil[0], coil[1], coil[3])
# We always start with a single step.
for j in range(4):
assert coil[j].duty_cycle == (0xFFFF if j == 0 else 0)
motor.onestep(direction=stepper.BACKWARD, style=stepper.DOUBLE)
assert coil[0].duty_cycle == 0xFFFF
assert coil[1].duty_cycle == 0
assert coil[2].duty_cycle == 0
assert coil[3].duty_cycle == 0xFFFF
motor.onestep(direction=stepper.BACKWARD, style=stepper.SINGLE)
assert coil[0].duty_cycle == 0
assert coil[1].duty_cycle == 0
assert coil[2].duty_cycle == 0
assert coil[3].duty_cycle == 0xFFFF
motor.onestep(direction=stepper.FORWARD, style=stepper.DOUBLE)
assert coil[0].duty_cycle == 0xFFFF
assert coil[1].duty_cycle == 0
assert coil[2].duty_cycle == 0
assert coil[3].duty_cycle == 0xFFFF
motor.onestep(direction=stepper.FORWARD, style=stepper.SINGLE)
assert coil[0].duty_cycle == 0xFFFF
assert coil[1].duty_cycle == 0
assert coil[2].duty_cycle == 0
assert coil[3].duty_cycle == 0
def test_interleave_steps():
coil = (Coil(), Coil(), Coil(), Coil())
# We undo the coil order so our tests make more sense.
motor = stepper.StepperMotor(coil[2], coil[0], coil[1], coil[3])
# We always start with a single step.
for j in range(4):
assert coil[j].duty_cycle == (0xffff if j == 0 else 0)
for i in range(15): # Test 15 half steps so we wrap around
motor.onestep(style=stepper.INTERLEAVE)
for j in range(4):
expected_value = 0
# Even half steps should be DOUBLE coil active steps.
if i % 2 == 0:
if j == i // 2 % 4 or j == (i // 2 + 1) % 4:
expected_value = 0xffff
# Odd half steps should be SINGLE coil active steps
elif j == (i // 2 + 1) % 4:
expected_value = 0xffff
assert coil[j].duty_cycle == expected_value
motor.onestep(direction=stepper.BACKWARD, style=stepper.INTERLEAVE)
assert coil[0].duty_cycle == 0
assert coil[1].duty_cycle == 0
assert coil[2].duty_cycle == 0
assert coil[3].duty_cycle == 0xffff
def test_microstep_steps():
coil = (Coil(), Coil(), Coil(), Coil())
# We undo the coil order so our tests make more sense.
motor = stepper.StepperMotor(coil[2],
coil[0],
coil[1],
coil[3],
microsteps=2)
# We always start with a single step.
for j in range(4):
assert coil[j].duty_cycle == (0xffff if j == 0 else 0)
motor.onestep(style=stepper.MICROSTEP)
assert coil[0].duty_cycle == 0xb504
assert coil[1].duty_cycle == 0xb504
assert coil[2].duty_cycle == 0
assert coil[3].duty_cycle == 0
motor.onestep(style=stepper.MICROSTEP)
assert coil[0].duty_cycle == 0x0
assert coil[1].duty_cycle == 0xffff
assert coil[2].duty_cycle == 0
assert coil[3].duty_cycle == 0
motor.onestep(style=stepper.MICROSTEP)
assert coil[0].duty_cycle == 0
assert coil[1].duty_cycle == 0xb504
assert coil[2].duty_cycle == 0xb504
assert coil[3].duty_cycle == 0
motor.onestep(direction=stepper.BACKWARD, style=stepper.MICROSTEP)
assert coil[0].duty_cycle == 0x0
assert coil[1].duty_cycle == 0xffff
assert coil[2].duty_cycle == 0
assert coil[3].duty_cycle == 0
def stepper2(self):
""":py:class:`~adafruit_motor.stepper.StepperMotor` controls for one connected to stepper 2
(also labeled motor 3 and motor 4).
.. image :: ../docs/_static/motor_featherwing/stepper2.jpg
:alt: Stepper 2 location
This example moves the stepper motor 100 steps forwards.
.. code-block:: python
from adafruit_featherwing import motor_featherwing
wing = motor_featherwing.MotorFeatherWing()
for i in range(100):
wing.stepper2.onestep()
"""
if not self._stepper2:
from adafruit_motor import stepper
if self._motor3 or self._motor4:
raise RuntimeError("Cannot use stepper2 at the same time as motor3 or motor4.")
self._pca.channels[7].duty_cycle = 0xffff
self._pca.channels[2].duty_cycle = 0xffff
self._stepper2 = stepper.StepperMotor(self._pca.channels[4], self._pca.channels[3],
self._pca.channels[5], self._pca.channels[6])
return self._stepper2
def test_microstep_to_single():
coil = (Coil(), Coil(), Coil(), Coil())
# We undo the coil order so our tests make more sense.
motor = stepper.StepperMotor(coil[2], coil[0], coil[1], coil[3])
# We always start with a single step.
for j in range(4):
assert coil[j].duty_cycle == (0xffff if j == 0 else 0)
motor.onestep(direction=stepper.BACKWARD, style=stepper.MICROSTEP)
assert coil[0].duty_cycle == 0xfec3
assert coil[1].duty_cycle == 0
assert coil[2].duty_cycle == 0
assert coil[3].duty_cycle == 0x1918
motor.onestep(direction=stepper.BACKWARD, style=stepper.SINGLE)
assert coil[0].duty_cycle == 0
assert coil[1].duty_cycle == 0
assert coil[2].duty_cycle == 0
assert coil[3].duty_cycle == 0xffff
motor.onestep(direction=stepper.FORWARD, style=stepper.MICROSTEP)
assert coil[0].duty_cycle == 0x1918
assert coil[1].duty_cycle == 0
assert coil[2].duty_cycle == 0
assert coil[3].duty_cycle == 0xfec3
motor.onestep(direction=stepper.FORWARD, style=stepper.SINGLE)
assert coil[0].duty_cycle == 0xffff
assert coil[1].duty_cycle == 0
assert coil[2].duty_cycle == 0
assert coil[3].duty_cycle == 0
def stepper2(self):
""":py:class:``~adafruit_motor.stepper.StepperMotor`` controls for one connected to stepper
2 (also labeled motor 3 and motor 4).
The following image shows the location of the stepper2 terminals on the DC/Stepper
FeatherWing. stepper2 is made up of the M3 and M4 terminals.
The labels on the FeatherWing are found on the bottom of the board.
The terminals are labeled on the top of the Shield and Pi Hat.
.. image :: ../docs/_static/motor_featherwing/stepper2.jpg
:alt: Stepper 2 location
This example moves the stepper motor 100 steps forwards.
.. code-block:: python
from adafruit_motorkit import MotorKit
kit = MotorKit()
for i in range(100):
kit.stepper2.onestep()
"""
if not self._stepper2:
from adafruit_motor import stepper
if self._motor3 or self._motor4:
raise RuntimeError("Cannot use stepper2 at the same time as motor3 or motor4.")
self._pca.channels[7].duty_cycle = 0xffff
self._pca.channels[2].duty_cycle = 0xffff
self._stepper2 = stepper.StepperMotor(self._pca.channels[4], self._pca.channels[3],
self._pca.channels[5], self._pca.channels[6],
microsteps=self._steppers_microsteps)
return self._stepper2
def stepper2(self):
if not self._stepper2:
from adafruit_motor import stepper
if self._motor3 or self._motor4:
raise RuntimeError("Cannot use stepper2 at the same time as motor3 or motor4.")
self._pca.channels[7].duty_cycle = 0xffff
self._pca.channels[2].duty_cycle = 0xffff
self._stepper2 = stepper.StepperMotor(self._pca.channels[4], self._pca.channels[3],
self._pca.channels[5], self._pca.channels[6])
return self._stepper2
def stepper1(self):
if not self._stepper1:
from adafruit_motor import stepper
if self._motor1 or self._motor2:
raise RuntimeError("Cannot use stepper1 at the same time as motor1 or motor2.")
self._pca.channels[8].duty_cycle = 0xffff
self._pca.channels[13].duty_cycle = 0xffff
self._stepper1 = stepper.StepperMotor(self._pca.channels[10], self._pca.channels[9],
self._pca.channels[11], self._pca.channels[12])
return self._stepper1
def test_single_coil():
coil = (Coil(), Coil(), Coil(), Coil())
# We undo the coil order so our tests make more sense.
motor = stepper.StepperMotor(coil[2], coil[0], coil[1], coil[3])
# Always start with a single step.
for j in range(4):
assert coil[j].duty_cycle == (0xffff if j == 0 else 0)
for i in range(1, 7): # Test 6 steps so we wrap around
motor.onestep()
for j in range(4):
assert coil[j].duty_cycle == (0xffff if i % 4 == j else 0)
def test_double_coil():
coil = (Coil(), Coil(), Coil(), Coil())
# We undo the coil order so our tests make more sense.
motor = stepper.StepperMotor(coil[2], coil[0], coil[1], coil[3])
# Despite double stepping we always start with a single step.
for j in range(4):
assert coil[j].duty_cycle == (0xffff if j == 0 else 0)
for i in range(6): # Test 6 steps so we wrap around
motor.onestep(style=stepper.DOUBLE)
for j in range(4):
assert coil[j].duty_cycle == (0xffff if i % 4 == j or
(i + 1) % 4 == j else 0)
def stepper1(self):
""":py:class:``~adafruit_motor.stepper.StepperMotor`` controls for one connected to stepper
1 (also labeled motor 1 and motor 2).
The following image shows the location of the stepper1 terminals on the DC/Stepper
FeatherWing. stepper1 is made up of the M1 and M2 terminals.
The labels on the FeatherWing are found on the bottom of the board.
The terminals are labeled on the top of the Shield and Pi Hat.
.. image :: ../docs/_static/motor_featherwing/stepper1.jpg
:alt: Stepper 1 location
This example moves the stepper motor 100 steps forwards.
.. code-block:: python
from adafruit_motorkit import MotorKit
kit = MotorKit()
for i in range(100):
kit.stepper1.onestep()
"""
if not self._stepper1:
from adafruit_motor import ( # pylint: disable=import-outside-toplevel
stepper,
)
if self._motor1 or self._motor2:
raise RuntimeError(
"Cannot use stepper1 at the same time as motor1 or motor2."
)
self._pca.channels[8].duty_cycle = 0xFFFF
self._pca.channels[13].duty_cycle = 0xFFFF
self._stepper1 = stepper.StepperMotor(
self._pca.channels[10],
self._pca.channels[9],
self._pca.channels[11],
self._pca.channels[12],
microsteps=self._steppers_microsteps,
)
return self._stepper1
class MotorController:
A = digitalio.DigitalInOut(board.D6)
B = digitalio.DigitalInOut(board.D19)
C = digitalio.DigitalInOut(board.D26)
D = digitalio.DigitalInOut(board.D13)
A.switch_to_output()
B.switch_to_output()
C.switch_to_output()
D.switch_to_output()
motor = Stepper.StepperMotor(A, B, C, D, microsteps=None)
sleep_time = 0.003
direction = Stepper.FORWARD
running = False
def status(self):
return { 'pause': self.sleep_time, 'direction': self.direction, 'running': self.running }
def run(self, sleep):
if not self.running:
self.running = True
while self.running:
self.motor.onestep(direction=self.direction, style=Stepper.SINGLE)
sleep(self.sleep_time)
def stop(self):
self.running = False
def change_step_pause(self, delta: Optional[float] = None, abs: Optional[float] = None):
if delta is not None:
self.sleep_time = max(0.0018, self.sleep_time + delta)
elif abs is not None:
self.sleep_time = max(0.0018, abs)
def reverse(self):
self.direction = Stepper.BACKWARD if self.direction == Stepper.FORWARD else Stepper.FORWARD
# Stepper motor setup
DELAY = 0.006 # fastest is ~ 0.004, 0.01 is still very smooth, gets steppy after that
STEPS = 513 # this is a full 360º
coils = (
DigitalInOut(board.GP21), # A1
DigitalInOut(board.GP20), # A2
DigitalInOut(board.GP19), # B1
DigitalInOut(board.GP18), # B2
)
for coil in coils:
coil.direction = Direction.OUTPUT
stepper_motor = stepper.StepperMotor(coils[0],
coils[1],
coils[2],
coils[3],
microsteps=None)
def stepper_fwd():
for _ in range(STEPS):
stepper_motor.onestep(direction=stepper.FORWARD)
time.sleep(DELAY)
stepper_motor.release()
def stepper_back():
for _ in range(STEPS):
stepper_motor.onestep(direction=stepper.BACKWARD)
time.sleep(DELAY)
digitalio.DigitalInOut(board.D16), # A2
digitalio.DigitalInOut(board.D20), # B1
digitalio.DigitalInOut(board.D21), # B2
# motor 3
digitalio.DigitalInOut(board.D27), # A1
digitalio.DigitalInOut(board.D17), # A2
digitalio.DigitalInOut(board.D22), # B1
digitalio.DigitalInOut(board.D23), # B2
)
for coil in coils:
coil.direction = digitalio.Direction.OUTPUT
motor1 = stepper.StepperMotor(coils[0],
coils[1],
coils[2],
coils[3],
microsteps=None)
motor2 = stepper.StepperMotor(coils[4],
coils[5],
coils[6],
coils[7],
microsteps=None)
motor3 = stepper.StepperMotor(coils[8],
coils[9],
coils[10],
coils[11],
microsteps=None)
degPerStep = 1.8 # number of degrees per step of the motor
import designlib as des
import time
from board import SCL, SDA
import busio
from adafruit_pca9685 import PCA9685
from adafruit_motor import stepper
i2c = busio.I2C(SCL, SDA)
pca = PCA9685(i2c, address=0x60)
pca.frequency = 1600
powerChannel = [0]
stepChannel_1 = [1]
stepChannel_2 = [2]
pca.channels[powerChannel] = 0xFFFF
stepperMotor = stepper.StepperMotor(pca.channel[stepChannel_1],
pca.channel[stepChannel_2])
def X_Stepper(msg):
step = des.Conv_Steps_XY(msg)
if step > 0:
stepMain = step.floor()
stepMicro = ((((stepMain - step) * 100) / 2)).floor()
for i in range(step):
stepperMotor.onestep()
time.sleep(0.01)
stepperMotor.onestep(microsteps=stepMicro)
if step < 0:
step = step * -1
stepMain = step.floor()
stepMicro = ((((stepMain - step) * 100) / 2)).floor()
# Run a Stepper Motor. Tested on ItsyBitsy M4 Express + DRV8833.
# https://www.adafruit.com/product/3800
# https://www.adafruit.com/product/3297
import time
import board
import pulseio
from adafruit_motor import stepper
AIn1 = pulseio.PWMOut(board.D9, frequency=1600)
AIn2 = pulseio.PWMOut(board.D10, frequency=1600)
BIn1 = pulseio.PWMOut(board.D11, frequency=1600)
BIn2 = pulseio.PWMOut(board.D12, frequency=1600)
stepper_motor = stepper.StepperMotor(AIn1, AIn2, BIn1, BIn2)
for i in range(1000):
stepper_motor.onestep()
time.sleep(0.01)
for i in range(1000):
stepper_motor.onestep(direction=stepper.BACKWARD)
time.sleep(0.01)
buttona.pull = Pull.DOWN
buttonb = DigitalInOut(board.BUTTON_B)
buttonb.direction = Direction.INPUT
buttonb.pull = Pull.DOWN
BOTTOM_SENSOR = 2
TOP_SENSOR = 3
seesaw.pin_mode(BOTTOM_SENSOR, seesaw.INPUT_PULLUP)
seesaw.pin_mode(TOP_SENSOR, seesaw.INPUT_PULLUP)
# Create one stepper motor using the 4 'drive' PWM pins 13, 43, 12 and 42
pwms = [PWMOut(seesaw, 13), PWMOut(seesaw, 43), PWMOut(seesaw, 12), PWMOut(seesaw, 42)]
for p in pwms:
p.frequency = 2000
stepper_motor = stepper.StepperMotor(pwms[0], pwms[1], pwms[2], pwms[3])
pixels = neopixel.NeoPixel(board.NEOPIXEL, 10, brightness=1)
pixels.fill((0,0,0))
def rainbow():
pixels.fill((20,0,0))
time.sleep(0.05)
pixels.fill((20,20,0))
time.sleep(0.05)
pixels.fill((0,20,0))
time.sleep(0.05)
pixels.fill((0,20,20))
time.sleep(0.05)
pixels.fill((0,0,20))
from adafruit_pca9685 import PCA9685
from adafruit_motor import stepper
i2c = busio.I2C(SCL, SDA)
# Create a simple PCA9685 class instance for the Motor FeatherWing's default address.
pca = PCA9685(i2c, address=0x60)
pca.frequency = 1600
# Motor 1 is channels 9 and 10 with 8 held high.
# Motor 2 is channels 11 and 12 with 13 held high.
# Motor 3 is channels 3 and 4 with 2 held high.
# Motor 4 is channels 5 and 6 with 7 held high.
pca.channels[7].duty_cycle = 0xFFFF
pca.channels[2].duty_cycle = 0xFFFF
stepper_motor = stepper.StepperMotor(
pca.channels[4], pca.channels[3], pca.channels[5], pca.channels[6]
)
for i in range(100):
stepper_motor.onestep()
time.sleep(0.01)
for i in range(100):
stepper_motor.onestep(direction=stepper.BACKWARD)
time.sleep(0.01)
pca.deinit()
