import piplates.MOTORplate as MOTOR import RPi.GPIO as GPIO import time import os import string from Tkinter import * import tkFont print MOTOR.getID(0) #flush out any old interrupts #dummy = MOTOR.getINTflag0(1) #intFLAG=0 #intITS=0 #def moveDone(channel): # global intBITS, intFLAG # intBITS=MOTOR.getINTflag0(0) # intFLAG=1 MOTOR.RESET(0) #configure steppers A and B for homing function MOTOR.stepperCONFIG(0, 'a', 'ccw', 'M8', 100, 0) MOTOR.stepperCONFIG(0, 'b', 'ccw', 'M8', 100, 0) #move steppers A and B towards switches MOTOR.stepperJOG(0, 'a') MOTOR.stepperJOG(0, 'b') #GPIO.setmode(GPIO.BCM)
direction=toggle_direction(direction) time.sleep(1) sync_config(direction,500,1) sync_move(1500) counter+=1 #GPIO.setmode(GPIO.BCM) #GPIO.setup(22, GPIO.IN, pull_up_down=GPIO.PUD_UP) #GPIO.add_event_detect(22, GPIO.FALLING, callback=moveDone) #allow interrupts when a motor stops #MOTOR.enablestepSTOPint(0,'a') #MOTOR.enablestepSTOPint(0,'b') #MOTOR.intEnable(0) print MOTOR.getID(1) dummy=MOTOR.getINTflag0(1) #flush out any old interrupts intFLAG=0 intITS=0 direction=1 sync_config(direction,200,0) #sync_jog() flag=0 counter=0 cycles=0 sync_move(1) while (counter<cycles):