class Custom_Servo(object):
def __init__(self, pin):
self.pin = pin
self.getValues()
self.motor = AngularServo(self.pin,
min_angle=self.min,
max_angle=self.max)
def getValues(self):
s = Servo(self.pin)
self.min = s.min() # measure the angle
self.max = s.max() # measure the angle
def open_servo(self):
self.motor.max()
def close_servo(self):
time.sleep(3)
self.motor.mid()
from gpiozero import AngularServo from time import sleep servo = AngularServo(5, min_angle=0, max_angle=90) servo.angle = 0 servo.min() sleep(1) servo.mid() sleep(1) servo.max() sleep(1)
servo22 = AngularServo(15, min_angle=-90, max_angle=90) servo23 = AngularServo(18, min_angle=-90, max_angle=90) servo31 = AngularServo(8, min_angle=-90, max_angle=90) servo32 = AngularServo(7, min_angle=-90, max_angle=90) servo33 = AngularServo(1, min_angle=-90, max_angle=90) servo41 = AngularServo(0, min_angle=-90, max_angle=90) servo42 = AngularServo(5, min_angle=-90, max_angle=90) servo43 = AngularServo(6, min_angle=-90, max_angle=90) servo11.max() servo12.max() servo13.max() sleep(1) servo11.mid() servo12.mid() servo13.mid() sleep(1) servo11.min() servo12.min() servo13.min() sleep(1) servo21.max() servo22.max() servo23.max() sleep(1) servo21.mid() servo22.mid() servo23.mid()
from Gyro import Gyroscope
import time
from gpiozero import AngularServo
gy = Gyroscope(0x68)
servoX = AngularServo(4, min_angle=-45, max_angle=45)
print("Starting Gyro Hookup")
while True:
try:
gyro_data = gy.get_gyro_data()
servoX.angle = max(-45, min(gyro_data["x"], 45))
except KeyboardInterrupt:
servoX.mid()
print("Servo Test Stopped")
break
class Robot(object):
SPEED_HIGH = int(config.get("robot.speed","speed_high"))
SPEED_MEDIUM = int(config.get("robot.speed","speed_medium"))
SPEED_LOW = int(config.get("robot.speed","speed_low"))
##Define the arc of the turn process by a tuple wheels speed (left, right)
LEFT_ARC_CLOSE = eval(config.get("robot.speed","left_arc_close"))
LEFT_ARC_OPEN = eval(config.get("robot.speed","left_arc_open"))
RIGHT_ARC_CLOSE = eval(config.get("robot.speed","right_arc_close"))
RIGHT_ARC_OPEN = eval(config.get("robot.speed","right_arc_open"))
#Pin pair left
FORWARD_LEFT_PIN = int(config.get("robot.board.v1","forward_left_pin"))
BACKWARD_LEFT_PIN = int(config.get("robot.board.v1","backward_left_pin"))
#Pin pair right
FORWARD_RIGHT_PIN = int(config.get("robot.board.v1","forward_right_pin"))
BACKWARD_RIGHT_PIN = int(config.get("robot.board.v1","backward_right_pin"))
#PWM PINS
PWM_LEFT_PIN = int(config.get("robot.board.v1","pwm_left_pin"))
PWM_RIGHT_PIN = int(config.get("robot.board.v1","pwm_right_pin"))
#Frecuency by hertz
FRECUENCY = int(config.get("robot.board.v1","frecuency"))
# Cycles fits for pwm cycles
LEFT_CYCLES_FIT = int(config.get("robot.board.v1","left_cycles_fit"))
RIGHT_CYCLES_FIT = int(config.get("robot.board.v1","right_cycles_fit"))
#Pin settings for head control
HEAD_HORIZONTAL_PIN = int(config.get("robot.board.v1","head_pwm_pin_horizontal_axis"))
HEAD_VERTICAL_PIN = int(config.get("robot.board.v1","head_pwm_pin_vertical_axis"))
HEAD_HORIZONTAL_RANGE = config.get("robot.board.v1","head_horizontal_range").split(",")
HEAD_VERTICAL_RANGE = config.get("robot.board.v1","head_vertical_range").split(",")
RIGHT_WHEEL_SENSOR = int(config.get("robot.board.v1","right_wheel_sensor"))
LEFT_WHEEL_SENSOR = int(config.get("robot.board.v1", "left_wheel_sensor"))
CONTROLLER_BOARD = config.get("robot.controller", "board")
#v2
WHEEL_LEFT_ENABLED = int(config.get("robot.board.v2", "wheel_left_enabled"))
WHEEL_LEFT_HEADING = int(config.get("robot.board.v2", "wheel_left_heading"))
WHEEL_LEFT_STEP = int(config.get("robot.board.v2", "wheel_left_step"))
WHEEL_RIGHT_ENABLED = int(config.get("robot.board.v2", "wheel_right_enabled"))
WHEEL_RIGHT_HEADING = int(config.get("robot.board.v2", "wheel_right_heading"))
WHEEL_RIGHT_STEP = int(config.get("robot.board.v2", "wheel_right_step"))
SERVO_V = None
SERVO_H = None
head_vertical_current_position = None
head_horizontal_current_position = None
def __init__(self):
if env == "prod":
log.debug("Using %s configuration" % self.CONTROLLER_BOARD )
self.SERVO_H = AngularServo(self.HEAD_HORIZONTAL_PIN, min_angle=-80, max_angle=80)
self.SERVO_V = AngularServo(self.HEAD_VERTICAL_PIN, min_angle=-80, max_angle=80)
##Digital devices
self.forward_left_device = None
self.forward_right_device = None
self.backward_left_device = None
self.backward_right_device = None
self.wheel_right_step = None
self.wheel_left_step = None
self.wheel_right_heading = None
self.wheel_left_heading = None
self.wheel_right_enabled = None
self.wheel_left_enabled = None
self.pwm_left = None
self.pwm_right = None
if self.CONTROLLER_BOARD == "v1":
self.forward_left_device = DigitalOutputDevice(self.FORWARD_LEFT_PIN, True, False)
self.forward_right_device = DigitalOutputDevice(self.FORWARD_RIGHT_PIN, True, False)
self.backward_left_device = DigitalOutputDevice(self.BACKWARD_LEFT_PIN, True, False)
self.backward_right_device = DigitalOutputDevice(self.BACKWARD_RIGHT_PIN, True, False)
self.pwm_left = PWMOutputDevice(self.PWM_LEFT_PIN, True, False, self.FRECUENCY)
self.pwm_right = PWMOutputDevice(self.PWM_RIGHT_PIN, True, False, self.FRECUENCY)
if self.CONTROLLER_BOARD == "v2":
self.wheel_right_step = DigitalOutputDevice(self.WHEEL_RIGHT_STEP, True, False)
self.wheel_left_step = DigitalOutputDevice(self.WHEEL_LEFT_STEP, True, False)
self.wheel_right_heading = DigitalOutputDevice(self.WHEEL_RIGHT_HEADING, True, False)
self.wheel_left_heading = DigitalOutputDevice(self.WHEEL_LEFT_HEADING, True, False)
self.wheel_right_enabled = DigitalOutputDevice(self.WHEEL_RIGHT_ENABLED, True, False)
self.wheel_left_enabled = DigitalOutputDevice(self.WHEEL_LEFT_ENABLED, True, False)
self.current_horizontal_head_pos = 0
self.current_vertical_head_pos = 0
self.center_head()
self._counting_steps = 0
self._current_steps = 0
self._stepper_current_step = 0
def _set_left_forward(self):
if self.CONTROLLER_BOARD == "v1":
self.forward_left_device.on()
self.backward_left_device.off()
def _set_left_backward(self):
if self.CONTROLLER_BOARD == "v1":
self.forward_left_device.off()
self.backward_left_device.on()
def _set_left_stop(self):
if self.CONTROLLER_BOARD == "v1":
self.forward_left_device.on()
self.backward_left_device.on()
def _set_right_forward(self):
if self.CONTROLLER_BOARD == "v1":
self.forward_right_device.on()
self.backward_right_device.off()
def _set_right_backward(self):
if self.CONTROLLER_BOARD == "v1":
self.forward_right_device.off()
self.backward_right_device.on()
def _set_right_stop(self):
if self.CONTROLLER_BOARD == "v1":
self.forward_right_device.on()
self.backward_right_device.on()
def set_forward(self):
log.debug("setting movement to forward")
if env == "prod":
self._set_left_forward()
self._set_right_forward()
def set_backward(self):
log.debug("setting movement to backward")
if env == "prod":
self._set_left_backward()
self._set_right_backward()
def set_rotate_left(self):
log.debug("setting movement to rotate left")
if env == "prod":
self._set_left_backward()
self._set_right_forward()
def set_rotate_right(self):
log.debug("setting movement to rotate right")
if env == "prod":
self._set_right_backward()
self._set_left_forward()
def stop(self):
log.debug("stopping")
if env == "prod":
if self.CONTROLLER_BOARD == "v1":
self.pwm_left.off()
self.pwm_right.off()
def move(self, speed=None, arc=None, steps=100, delay=0.7, heading=1):
if self.CONTROLLER_BOARD == "v1":
self._move_dc(speed, arc)
elif self.CONTROLLER_BOARD == "v2":
self._move_steppers_bipolar(steps=steps, delay=delay, heading=heading)
def _move_dc(self, speed, arc):
log.debug("Moving using DC motors")
if (speed and arc):
print("Error: speed and arc could not be setted up at the same time")
return
if env == "prod":
self.pwm_left.on()
self.pwm_right.on()
if (speed):
log.debug("moving on " + str(speed))
log.debug("aplying fit: left " + str(self.LEFT_CYCLES_FIT) + " right " + str(self.RIGHT_CYCLES_FIT))
aditional_left_clycles = self.LEFT_CYCLES_FIT if ((speed + self.LEFT_CYCLES_FIT) <= 100.00) else 0.00
aditional_right_clycles = self.RIGHT_CYCLES_FIT if ((speed + self.RIGHT_CYCLES_FIT) <= 100.00) else 0.00
if env == "prod":
self.pwm_left.value = (speed + aditional_left_clycles) / 100.00
self.pwm_right.value = (speed + aditional_right_clycles) / 100.00
if (arc):
cycle_left, cycle_right = arc
log.debug("turning -> left wheel: " + str(cycle_left) + " right wheel: " + str(cycle_right))
if env == "prod":
self.pwm_left.value = cycle_left / 100.00
self.pwm_right.value = cycle_right / 100.00
def _move_steppers_bipolar(self, steps, heading, delay):
"""
Currently it would take 4 steps to complete a whole wheel turn
"""
log.debug("Moving steppers bipolars . Steps " + str(steps) + " delay " + str(delay))
steps_left = abs(steps)
if env == "prod":
self.wheel_left_enabled.off()
self.wheel_right_enabled.off()
while(steps_left!=0):
log.debug("Current step: " + str(steps_left))
if env == "prod":
if heading:
self.wheel_left_heading.on()
self.wheel_right_heading.off()
else:
self.wheel_left_heading.off()
self.wheel_right_heading.on()
self.wheel_left_step.off()
self.wheel_right_step.off()
sleep(delay/1000.00)
self.wheel_left_step.on()
self.wheel_right_step.on()
sleep(delay/1000.00)
steps_left -= 1
if env == "prod":
self.wheel_left_enabled.on()
self.wheel_right_enabled.on()
def center_head(self):
log.debug("centering head")
self.head_horizontal_current_position = 0
self.head_vertical_current_position = 0
if env == "prod":
self.SERVO_H.mid()
self.SERVO_V.mid()
sleep(0.2)
self.SERVO_H.detach()
self.SERVO_V.detach()
def _angle_to_ms(self,angle):
return 1520 + (int(angle)*400) / 45
def move_head_horizontal(self, angle):
log.debug("horizontal limits: " + self.HEAD_HORIZONTAL_RANGE[0] +" "+ self.HEAD_HORIZONTAL_RANGE[1])
log.debug("new horizontal angle: " + str(angle))
if angle > int(self.HEAD_HORIZONTAL_RANGE[0]) and angle < int(self.HEAD_HORIZONTAL_RANGE[1]):
log.debug("moving head horizontal to angle: " + str(angle))
self.head_horizontal_current_position = angle
if env == "prod":
self.SERVO_H.angle = angle
sleep(0.2)
self.SERVO_H.detach()
def move_head_vertical(self, angle):
log.debug("vertical limits: " + self.HEAD_VERTICAL_RANGE[0] +" "+ self.HEAD_VERTICAL_RANGE[1])
log.debug("new vertical angle: " + str(angle))
if angle > int(self.HEAD_VERTICAL_RANGE[0]) and angle < int(self.HEAD_VERTICAL_RANGE[1]):
log.debug("moving head vertical to angle: " + str(angle))
self.head_vertical_current_position = angle
if env == "prod":
self.SERVO_V.angle = angle
sleep(0.2)
self.SERVO_V.detach()
#Used for encoders
def steps(self, counting):
self._current_steps = counting
self.move(speed=self.SPEED_HIGH)
self.move(speed=self.SPEED_MEDIUM)
rpio.add_interrupt_callback(RIGHT_WHEEL_SENSOR, self._steps_callback, threaded_callback=True)
rpio.add_interrupt_callback(LEFT_WHEEL_SENSOR, self._steps_callback, threaded_callback=True)
rpio.wait_for_interrupts(threaded=True)
def _steps_callback(self, gpio_id, value):
self._counting_steps += 1
if self._counting_steps > self._current_steps:
self._counting_steps = 0
self._current_steps = 0
rpio.stop_waiting_for_interrupts()
class Robot(object):
SPEED_HIGH = int(config.get("robot.speed", "speed_high"))
SPEED_MEDIUM = int(config.get("robot.speed", "speed_medium"))
SPEED_LOW = int(config.get("robot.speed", "speed_low"))
##Define the arc of the turn process by a tuple wheels speed (left, right)
LEFT_ARC_CLOSE = eval(config.get("robot.speed", "left_arc_close"))
LEFT_ARC_OPEN = eval(config.get("robot.speed", "left_arc_open"))
RIGHT_ARC_CLOSE = eval(config.get("robot.speed", "right_arc_close"))
RIGHT_ARC_OPEN = eval(config.get("robot.speed", "right_arc_open"))
#Pin pair left
FORWARD_LEFT_PIN = int(config.get("robot.board.v1", "forward_left_pin"))
BACKWARD_LEFT_PIN = int(config.get("robot.board.v1", "backward_left_pin"))
#Pin pair right
FORWARD_RIGHT_PIN = int(config.get("robot.board.v1", "forward_right_pin"))
BACKWARD_RIGHT_PIN = int(config.get("robot.board.v1",
"backward_right_pin"))
#PWM PINS
PWM_LEFT_PIN = int(config.get("robot.board.v1", "pwm_left_pin"))
PWM_RIGHT_PIN = int(config.get("robot.board.v1", "pwm_right_pin"))
#Frecuency by hertz
FRECUENCY = int(config.get("robot.board.v1", "frecuency"))
# Cycles fits for pwm cycles
LEFT_CYCLES_FIT = int(config.get("robot.board.v1", "left_cycles_fit"))
RIGHT_CYCLES_FIT = int(config.get("robot.board.v1", "right_cycles_fit"))
#Pin settings for head control
HEAD_HORIZONTAL_PIN = int(
config.get("robot.board.v1", "head_pwm_pin_horizontal_axis"))
HEAD_VERTICAL_PIN = int(
config.get("robot.board.v1", "head_pwm_pin_vertical_axis"))
HEAD_HORIZONTAL_RANGE = config.get("robot.board.v1",
"head_horizontal_range").split(",")
HEAD_VERTICAL_RANGE = config.get("robot.board.v1",
"head_vertical_range").split(",")
RIGHT_WHEEL_SENSOR = int(config.get("robot.board.v1",
"right_wheel_sensor"))
LEFT_WHEEL_SENSOR = int(config.get("robot.board.v1", "left_wheel_sensor"))
CONTROLLER_BOARD = config.get("robot.controller", "board")
#v2
WHEEL_LEFT_ENABLED = int(config.get("robot.board.v2",
"wheel_left_enabled"))
WHEEL_LEFT_HEADING = int(config.get("robot.board.v2",
"wheel_left_heading"))
WHEEL_LEFT_STEP = int(config.get("robot.board.v2", "wheel_left_step"))
WHEEL_RIGHT_ENABLED = int(
config.get("robot.board.v2", "wheel_right_enabled"))
WHEEL_RIGHT_HEADING = int(
config.get("robot.board.v2", "wheel_right_heading"))
WHEEL_RIGHT_STEP = int(config.get("robot.board.v2", "wheel_right_step"))
SERVO_V = None
SERVO_H = None
head_vertical_current_position = None
head_horizontal_current_position = None
def __init__(self):
if env == "prod":
log.debug("Using %s configuration" % self.CONTROLLER_BOARD)
self.SERVO_H = AngularServo(self.HEAD_HORIZONTAL_PIN,
min_angle=-80,
max_angle=80)
self.SERVO_V = AngularServo(self.HEAD_VERTICAL_PIN,
min_angle=-80,
max_angle=80)
##Digital devices
self.forward_left_device = None
self.forward_right_device = None
self.backward_left_device = None
self.backward_right_device = None
self.wheel_right_step = None
self.wheel_left_step = None
self.wheel_right_heading = None
self.wheel_left_heading = None
self.wheel_right_enabled = None
self.wheel_left_enabled = None
self.pwm_left = None
self.pwm_right = None
if self.CONTROLLER_BOARD == "v1":
self.forward_left_device = DigitalOutputDevice(
self.FORWARD_LEFT_PIN, True, False)
self.forward_right_device = DigitalOutputDevice(
self.FORWARD_RIGHT_PIN, True, False)
self.backward_left_device = DigitalOutputDevice(
self.BACKWARD_LEFT_PIN, True, False)
self.backward_right_device = DigitalOutputDevice(
self.BACKWARD_RIGHT_PIN, True, False)
self.pwm_left = PWMOutputDevice(self.PWM_LEFT_PIN, True, False,
self.FRECUENCY)
self.pwm_right = PWMOutputDevice(self.PWM_RIGHT_PIN, True,
False, self.FRECUENCY)
if self.CONTROLLER_BOARD == "v2":
self.wheel_right_step = DigitalOutputDevice(
self.WHEEL_RIGHT_STEP, True, False)
self.wheel_left_step = DigitalOutputDevice(
self.WHEEL_LEFT_STEP, True, False)
self.wheel_right_heading = DigitalOutputDevice(
self.WHEEL_RIGHT_HEADING, True, False)
self.wheel_left_heading = DigitalOutputDevice(
self.WHEEL_LEFT_HEADING, True, False)
self.wheel_right_enabled = DigitalOutputDevice(
self.WHEEL_RIGHT_ENABLED, True, False)
self.wheel_left_enabled = DigitalOutputDevice(
self.WHEEL_LEFT_ENABLED, True, False)
self.current_horizontal_head_pos = 0
self.current_vertical_head_pos = 0
self.center_head()
self._counting_steps = 0
self._current_steps = 0
self._stepper_current_step = 0
def _set_left_forward(self):
if self.CONTROLLER_BOARD == "v1":
self.forward_left_device.on()
self.backward_left_device.off()
def _set_left_backward(self):
if self.CONTROLLER_BOARD == "v1":
self.forward_left_device.off()
self.backward_left_device.on()
def _set_left_stop(self):
if self.CONTROLLER_BOARD == "v1":
self.forward_left_device.on()
self.backward_left_device.on()
def _set_right_forward(self):
if self.CONTROLLER_BOARD == "v1":
self.forward_right_device.on()
self.backward_right_device.off()
def _set_right_backward(self):
if self.CONTROLLER_BOARD == "v1":
self.forward_right_device.off()
self.backward_right_device.on()
def _set_right_stop(self):
if self.CONTROLLER_BOARD == "v1":
self.forward_right_device.on()
self.backward_right_device.on()
def set_forward(self):
log.debug("setting movement to forward")
if env == "prod":
self._set_left_forward()
self._set_right_forward()
def set_backward(self):
log.debug("setting movement to backward")
if env == "prod":
self._set_left_backward()
self._set_right_backward()
def set_rotate_left(self):
log.debug("setting movement to rotate left")
if env == "prod":
self._set_left_backward()
self._set_right_forward()
def set_rotate_right(self):
log.debug("setting movement to rotate right")
if env == "prod":
self._set_right_backward()
self._set_left_forward()
def stop(self):
log.debug("stopping")
if env == "prod":
if self.CONTROLLER_BOARD == "v1":
self.pwm_left.off()
self.pwm_right.off()
def move(self, speed=None, arc=None, steps=100, delay=0.7, heading=1):
if self.CONTROLLER_BOARD == "v1":
self._move_dc(speed, arc)
elif self.CONTROLLER_BOARD == "v2":
self._move_steppers_bipolar(steps=steps,
delay=delay,
heading=heading)
def _move_dc(self, speed, arc):
log.debug("Moving using DC motors")
if (speed and arc):
print(
"Error: speed and arc could not be setted up at the same time")
return
if env == "prod":
self.pwm_left.on()
self.pwm_right.on()
if (speed):
log.debug("moving on " + str(speed))
log.debug("aplying fit: left " + str(self.LEFT_CYCLES_FIT) +
" right " + str(self.RIGHT_CYCLES_FIT))
aditional_left_clycles = self.LEFT_CYCLES_FIT if (
(speed + self.LEFT_CYCLES_FIT) <= 100.00) else 0.00
aditional_right_clycles = self.RIGHT_CYCLES_FIT if (
(speed + self.RIGHT_CYCLES_FIT) <= 100.00) else 0.00
if env == "prod":
self.pwm_left.value = (speed + aditional_left_clycles) / 100.00
self.pwm_right.value = (speed +
aditional_right_clycles) / 100.00
if (arc):
cycle_left, cycle_right = arc
log.debug("turning -> left wheel: " + str(cycle_left) +
" right wheel: " + str(cycle_right))
if env == "prod":
self.pwm_left.value = cycle_left / 100.00
self.pwm_right.value = cycle_right / 100.00
def _move_steppers_bipolar(self, steps, heading, delay):
"""
Currently it would take 4 steps to complete a whole wheel turn
"""
log.debug("Moving steppers bipolars . Steps " + str(steps) +
" delay " + str(delay))
steps_left = abs(steps)
if env == "prod":
self.wheel_left_enabled.off()
self.wheel_right_enabled.off()
while (steps_left != 0):
log.debug("Current step: " + str(steps_left))
if env == "prod":
if heading:
self.wheel_left_heading.on()
self.wheel_right_heading.off()
else:
self.wheel_left_heading.off()
self.wheel_right_heading.on()
self.wheel_left_step.off()
self.wheel_right_step.off()
sleep(delay / 1000.00)
self.wheel_left_step.on()
self.wheel_right_step.on()
sleep(delay / 1000.00)
steps_left -= 1
if env == "prod":
self.wheel_left_enabled.on()
self.wheel_right_enabled.on()
def center_head(self):
log.debug("centering head")
self.head_horizontal_current_position = 0
self.head_vertical_current_position = 0
if env == "prod":
self.SERVO_H.mid()
self.SERVO_V.mid()
sleep(0.2)
self.SERVO_H.detach()
self.SERVO_V.detach()
def _angle_to_ms(self, angle):
return 1520 + (int(angle) * 400) / 45
def move_head_horizontal(self, angle):
log.debug("horizontal limits: " + self.HEAD_HORIZONTAL_RANGE[0] + " " +
self.HEAD_HORIZONTAL_RANGE[1])
log.debug("new horizontal angle: " + str(angle))
if angle > int(self.HEAD_HORIZONTAL_RANGE[0]) and angle < int(
self.HEAD_HORIZONTAL_RANGE[1]):
log.debug("moving head horizontal to angle: " + str(angle))
self.head_horizontal_current_position = angle
if env == "prod":
self.SERVO_H.angle = angle
sleep(0.2)
self.SERVO_H.detach()
def move_head_vertical(self, angle):
log.debug("vertical limits: " + self.HEAD_VERTICAL_RANGE[0] + " " +
self.HEAD_VERTICAL_RANGE[1])
log.debug("new vertical angle: " + str(angle))
if angle > int(self.HEAD_VERTICAL_RANGE[0]) and angle < int(
self.HEAD_VERTICAL_RANGE[1]):
log.debug("moving head vertical to angle: " + str(angle))
self.head_vertical_current_position = angle
if env == "prod":
self.SERVO_V.angle = angle
sleep(0.2)
self.SERVO_V.detach()
#Used for encoders
def steps(self, counting):
self._current_steps = counting
self.move(speed=self.SPEED_HIGH)
self.move(speed=self.SPEED_MEDIUM)
rpio.add_interrupt_callback(RIGHT_WHEEL_SENSOR,
self._steps_callback,
threaded_callback=True)
rpio.add_interrupt_callback(LEFT_WHEEL_SENSOR,
self._steps_callback,
threaded_callback=True)
rpio.wait_for_interrupts(threaded=True)
def _steps_callback(self, gpio_id, value):
self._counting_steps += 1
if self._counting_steps > self._current_steps:
self._counting_steps = 0
self._current_steps = 0
rpio.stop_waiting_for_interrupts()
