class Motor_row():
def __init__(self, UID_front, UID_back, ipcon, current, max_velocity,
ramping_speed):
self.UID_back = UID_back
self.UID_front = UID_front
# init both stepper
self.motor_back = BrickStepper(UID_back, ipcon)
self.motor_front = BrickSilentStepper(UID_front, ipcon)
# init current in mA
print(current)
self.motor_back.set_motor_current(current)
self.motor_front.set_motor_current(current)
# init max_velocity
print(max_velocity)
self.motor_back.set_max_velocity(max_velocity)
self.motor_front.set_max_velocity(max_velocity)
# init ramping speed
print(ramping_speed)
self.motor_back.set_speed_ramping(ramping_speed, ramping_speed)
self.motor_front.set_speed_ramping(ramping_speed, ramping_speed)
self.motor_back.set_step_mode(8)
self.motor_front.set_step_configuration(
self.motor_front.STEP_RESOLUTION_8, True)
def enable_motors(self):
self.motor_back.enable()
self.motor_front.enable()
def set_steps(self, steps):
print(steps)
self.motor_back.set_steps(steps)
self.motor_front.set_steps(steps)
def drive_forward(self):
self.motor_back.drive_forward()
self.motor_front.drive_forward()
def drive_backward(self):
self.motor_back.drive_backward()
self.motor_front.drive_backward()
def full_stop(self):
self.motor_back.full_stop()
self.motor_front.full_stop()
def disable(self):
self.motor_back.disable()
self.motor_front.disable()
# -*- coding: utf-8 -*-
HOST = "localhost"
PORT = 4223
UID = "XXYYZZ" # Change XXYYZZ to the UID of your Stepper Brick
from tinkerforge.ip_connection import IPConnection
from tinkerforge.brick_stepper import BrickStepper
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
stepper = BrickStepper(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
stepper.set_motor_current(800) # 800mA
stepper.set_step_mode(8) # 1/8 step mode
stepper.set_max_velocity(2000) # Velocity 2000 steps/s
# Slow acceleration (500 steps/s^2),
# Fast deacceleration (5000 steps/s^2)
stepper.set_speed_ramping(500, 5000)
stepper.enable() # Enable motor power
stepper.set_steps(60000) # Drive 60000 steps forward
raw_input("Press key to exit\n") # Use input() in Python 3
stepper.disable()
ipcon.disconnect()
else:
steps = random.randint(-5000, -1000) # steps (backward)
print("Driving backward: " + str(steps) + " steps")
vel = random.randint(200, 2000) # steps/s
acc = random.randint(100, 1000) # steps/s^2
dec = random.randint(100, 1000) # steps/s^2
print("Configuration (vel, acc, dec): " + str((vel, acc, dec)))
stepper.set_speed_ramping(acc, dec)
stepper.set_max_velocity(vel)
stepper.set_steps(steps)
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
stepper = BrickStepper(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# Register position reached callback to function cb_position_reached
stepper.register_callback(stepper.CALLBACK_POSITION_REACHED,
lambda x: cb_position_reached(x, stepper))
stepper.enable() # Enable motor power
stepper.set_steps(1) # Drive one step forward to get things going
raw_input("Press key to exit\n") # Use input() in Python 3
stepper.disable()
ipcon.disconnect()