#Moves a stepper motor for 1 seconds import RoboPiLib_pwm as RPL import setup import time pul_pin = 1 dir_pin = 2 #direction can equal 0 or 1 for forwards or backwards direction = 0 #The smaller the speed, the faster the rotation speed = 500 RPL.pinMode(pul_pin, RPL.PWM) RPL.pinMode(direction_pin, RPL.OUTPUT) RPL.digitalWrite(dir_pin, direction) RPL.pwmWrite(pul_pin, speed, speed * 2) time.sleep(1) RPL.pwmWrite(pul_pin, 0, 0)
swivel_continuous = 1 #pin for swivel motor ppin_shoulder = 5 #pin number for shoulder potentiometer ppin_elbow = 6 #pin number for elbow potentiomenter ppin_swivel = 7 #pin number for swivel potentiomenter print "shoulder_pul", shoulder_pul print "shoulder_dir", shoulder_dir print "elbow_pul", elbow_pul print "elbow_dir", elbow_dir print "swivel_continuous", swivel_continuous print "ppin_shoulder", ppin_shoulder print "ppin_elbow", ppin_elbow print "ppin_swivel", ppin_swivel RPL.pinMode( shoulder_pul, RPL.PWM) #set shoulder_pul pin as a pulse-width modulation output RPL.pinMode( shoulder_dir, RPL.OUTPUT) #set shoulder_dir pin to an output and write 1 to it RPL.pinMode(elbow_pul, RPL.PWM) #set elbow_pul pin as a pulse-width modulation output RPL.pinMode(elbow_dir, RPL.OUTPUT) #set elbow_dir pin to an output and write 1 to it except: print 'Motors unrunnable: unable to reach RoboPiLib_pwm' import math #to calculate all angle values
RPL.RoboPiInit("/dev/ttyAMA0", 115200) shoulder_pul = 6 shoulder_dir = 7 elbow_pul = 1 elbow_dir = 2 print shoulder_pul, " shoulder_pul" print shoulder_dir, " shoulder_dir" print elbow_pul, " elbow_pul" print elbow_dir, " elbow_dir" up = True down = False RPL.pinMode(shoulder_pul, RPL.PWM) RPL.pinMode(shoulder_dir, RPL.OUTPUT) RPL.pinMode(elbow_pul, RPL.PWM) RPL.pinMode(elbow_dir, RPL.OUTPUT) speed = 1000 def stop(): RPL.pwmWrite(shoulder_pul, 0, 10000) RPL.pwmWrite(elbow_pul, 0, 10000) def shoulder(dir, run_for=1, speed=speed): run_for = run_for * 2291 / speed if (dir):