class StepperMotor(object):
def __init__(self, motor_inputs, state=0, delay=0.05):
'''
:param motor_inputs: Ordered list of parallel values to turn motor
:type motor_inputs: list or tuple
:param state: Initial starting state of motor position
:type state: int
:param delay: Delay between steps (speed)
:type delay: float
'''
self.MOTOR_INPUTS = motor_inputs
self.state = state
self.delay = delay
# Setup parallel interface on first init
self.parallel_interface = Parallel()
#Q: Keep as a function or store state to self?
def stepper_generator(self, state_steps):
'''
Returns a generator object which yields the current state and motor input.
:param state_steps: Number of steps to step the motor.
:type state_steps: int
:returns: Generator yielding tuples (state_index, motor_input)
:rtype: (int, hex)
'''
if state_steps < 0:
step = -1
else:
step = 1
for virtual_state in xrange(self.state + 1,
self.state + state_steps + 1, step):
# NOTE: virtual_state is not used other than for informing the user the
# overall relative step we've applied!
self.state += step
if self.state >= len(self.MOTOR_INPUTS):
# start at list 0
self.state = 0
elif self.state < 0:
# start at the end
self.state = len(self.MOTOR_INPUTS) - 1
else:
# we're at an index within the current motor inputs list
pass
motor_command = self.MOTOR_INPUTS[self.state]
print "%+ 4d : Moving to internal state index %02d, %s hex %03.2f degrees" % (
virtual_state, self.state, hex(motor_command),
state_to_angle(self.state, len(self.MOTOR_INPUTS)))
# present the required value
yield motor_command
def turn_motor(self, cycles):
'''
Turns the motor the desired amount.
:param cycles: Loops to turn
:type cycles: float
:returns: New state position
:rtype: int
'''
# round to the nearest step possible
steps = int(round(cycles * len(self.MOTOR_INPUTS)))
stepper = self.stepper_generator(steps)
for motor_position in stepper:
##print "turn motor to position %s" % hex(motor_position)
self.parallel_interface.setData(motor_position)
time.sleep(self.delay)
return self.state
def turn_to_angle(self, angle):
'''
Turns the motor to the desired absolute angle.
Accessor which converts arguments for turn_motor method.
:param angle: Angle to turn to
:type angle: float
:returns: New state position
:rtype: int
'''
cycles = self.angle_to_cycles(angle, self.state)
return self.turn_motor(cycles)
def rotate(self, degrees):
'''
Turns the motor by the number of degrees. -720 will turn the motor
two whole cycles anti-clockwise.
Accessor which converts arguments for turn_motor method.
:param degrees: Degrees to turn motor by
:type degrees: float
:returns: New state position
:rtype: int
'''
cycles = degrees / 360.0
return self.turn_motor(cycles)
#!/usr/bin/env python
from sys import argv
from parallel import Parallel
p = Parallel()
args = argv[1:]
if args:
if 'on' in args:
p.setData(0)
if 'off' in args:
p.setData(255)
class StepperMotor(object):
def __init__(self, motor_inputs, state=0, delay=0.05):
'''
:param motor_inputs: Ordered list of parallel values to turn motor
:type motor_inputs: list or tuple
:param state: Initial starting state of motor position
:type state: int
:param delay: Delay between steps (speed)
:type delay: float
'''
self.MOTOR_INPUTS = motor_inputs
self.state = state
self.delay = delay
# Setup parallel interface on first init
self.parallel_interface = Parallel()
#Q: Keep as a function or store state to self?
def stepper_generator(self, state_steps):
'''
Returns a generator object which yields the current state and motor input.
:param state_steps: Number of steps to step the motor.
:type state_steps: int
:returns: Generator yielding tuples (state_index, motor_input)
:rtype: (int, hex)
'''
if state_steps < 0:
step = -1
else:
step = 1
for virtual_state in xrange(self.state+1, self.state+state_steps+1, step):
# NOTE: virtual_state is not used other than for informing the user the
# overall relative step we've applied!
self.state += step
if self.state >= len(self.MOTOR_INPUTS):
# start at list 0
self.state = 0
elif self.state < 0:
# start at the end
self.state = len(self.MOTOR_INPUTS) -1
else:
# we're at an index within the current motor inputs list
pass
motor_command = self.MOTOR_INPUTS[self.state]
print "%+ 4d : Moving to internal state index %02d, %s hex %03.2f degrees" % (
virtual_state, self.state, hex(motor_command),
state_to_angle(self.state, len(self.MOTOR_INPUTS)))
# present the required value
yield motor_command
def turn_motor(self, cycles):
'''
Turns the motor the desired amount.
:param cycles: Loops to turn
:type cycles: float
:returns: New state position
:rtype: int
'''
# round to the nearest step possible
steps = int(round(cycles * len(self.MOTOR_INPUTS)))
stepper = self.stepper_generator(steps)
for motor_position in stepper:
##print "turn motor to position %s" % hex(motor_position)
self.parallel_interface.setData(motor_position)
time.sleep(self.delay)
return self.state
def turn_to_angle(self, angle):
'''
Turns the motor to the desired absolute angle.
Accessor which converts arguments for turn_motor method.
:param angle: Angle to turn to
:type angle: float
:returns: New state position
:rtype: int
'''
cycles = self.angle_to_cycles(angle, self.state)
return self.turn_motor(cycles)
def rotate(self, degrees):
'''
Turns the motor by the number of degrees. -720 will turn the motor
two whole cycles anti-clockwise.
Accessor which converts arguments for turn_motor method.
:param degrees: Degrees to turn motor by
:type degrees: float
:returns: New state position
:rtype: int
'''
cycles = degrees / 360.0
return self.turn_motor(cycles)
