def do_steps(self, delay): if self.delay > delay: self.delay = math.exp(-self.count) + 0.0005 self.count = self.count + 0.01 GPIO.setmode(GPIO.BCM) GPIO.setup(DIR, GPIO.OUT) GPIO.setup(STEP, GPIO.OUT) GPIO.output(STEP, GPIO.HIGH) sleep(self.delay) GPIO.output(STEP, GPIO.LOW) sleep(self.delay) self.steps_taken += 1 self.update_position() Observable.dispatch(self, str(self.get_x()) + ";" + str(self.get_y()))
def do_steps_slow(self): if self.delay > 0.001: self.delay = math.exp(-self.count) + 0.0005 self.count = self.count + 0.0075 GPIO.setmode(GPIO.BCM) GPIO.setup(DIR, GPIO.OUT) GPIO.setup(STEP, GPIO.OUT) GPIO.output(STEP, GPIO.HIGH) sleep(self.delay) GPIO.output(STEP, GPIO.LOW) sleep(self.delay) self.steps_taken += 1 self.update_position() print("[ StepperH ] Steps taken: " + str(self.steps_taken)) Observable.dispatch(self, str(self.get_x()) + ";" + str(self.get_y()))