class StepperCommand(Command):
def __init__(self, command_id):
super().__init__(command_id, 'i16')
self.delimiter_pin = pyb.Pin("Y2", pyb.Pin.IN, pyb.Pin.PULL_UP)
self.stepper = Stepper(200, "Y3", "Y4", "Y5", "Y6")
self.stepper.set_speed(25)
self.calibrate()
def callback(self, steps):
self.stepper.step(steps)
def calibrate(self):
# print("calibrating stepper")
# print(self.delimiter_pin.value())
# while self.delimiter_pin.value():
# self.stepper.step(20)
# print(self.delimiter_pin.value())
#
# self.stepper.step(100) # center steering
# print("calibrated!")
print("Skipping calibration")
def reset(self):
# recalibrate with delimiter
self.calibrate()
class StepperCommand(Command):
def __init__(self, command_id):
super().__init__(command_id, 'i16')
self.delimiter_pin = pyb.Pin("Y1", pyb.Pin.IN, pyb.Pin.PULL_UP)
self.stepper = Stepper(200, 25, "Y3", "Y4", "Y5", "Y6")
def callback(self, steps):
self.stepper.step(steps)
def calibrate(self):
print("Calibrating stepper... ", end="")
while not self.delimiter_pin.value():
self.stepper.step(-5)
pyb.delay(10) # if this isn't here the stepper won't switch directions
self.stepper.step(150) # center the steering
print("done!")
def reset(self):
# recalibrate with delimiter
self.calibrate()
import pyb
from libraries.stepper import Stepper
stepper = Stepper(200, "Y3", "Y4", "Y5", "Y6")
stepper.set_speed(25)
while True:
steps = int(input("steps: "))
stepper.step(steps)
pyb.delay(500)
import pyb
from libraries.stepper import Stepper
stepper = Stepper(200, 25, "Y3", "Y4", "Y5", "Y6")
while True:
steps = int(input("steps: "))
stepper.step(steps)
pyb.delay(500)