def print_time( threadName, delay,s,steps, dir,speed):
count = 1
while count>0:
time.sleep(delay)
count += 1
print ("%s: %s" % ( threadName, time.ctime(time.time()) ))
testStepper = stepper(s)
testStepper.step(steps, dir,speed);
for event in controller.read_loop():
if event.code != 0:
#print(categorize(event))
#print(event)
try:
if event.code == 310:
if event.value == 1:
print("button pressed")
testStepper5.step(10, "left",1000); #steps, dir, speed, stayOn
#_thread.start_new_thread( print_time, ("stepper-1", 0.1, s1,10,"left",1000) )
#_thread.start_new_thread( print_time, ("stepper-2", 0.2, s2,20,"right",500) )
#_thread.start_new_thread( print_time, ("stepper-3", 0.3, s3,10,"left",1000) )
#_thread.start_new_thread( print_time, ("stepper-4", 0.4, s4,40,"right",500) )
#_thread.start_new_thread( print_time, ("stepper-5", 0.5, s5,50,"left",1000) )
#_thread.start_new_thread( print_time, ("stepper-6", 0.6, s6,60,"right",500) )
except:
print ("Error: unable to start thread")
while 1:
pass
def print_time( threadName, delay,s,steps, dir,speed):
count = 1
while count >=1:
time.sleep(delay)
count -= 1
print ("%s: %s" % ( threadName, time.ctime(time.time()) ))
testStepper = stepper(s)
testStepper.step(steps, dir,speed);
def print_time(threadName, delay, s, steps, dir, speed):
count = 1
while count >= 1:
time.sleep(delay)
count -= 1
#print ("%s: %s" % ( threadName, time.ctime(time.time()) ))
#print("X button pressed s1,s2,s3 left "+str(a1)+" "+str(a2)+" "+str(a3)) #multi threading code
testStepper = stepper(s)
testStepper.step(steps, dir, speed)
GPIO.setup(34, GPIO.IN, pull_up_down=GPIO.PUD_DOWN) homePin = GPIO.input(34) GPIO.setup(31, GPIO.IN, pull_up_down=GPIO.PUD_DOWN) probePin = GPIO.input(31) ws=None t_exit=False I2C_ADDRESS = 0x36 bus = smbus.SMBus(1) #------stepper variables--------* #[stepPin, directionPin, enablePin] runHeight = stepper([25, 26, 29]) runFence = stepper([27, 28, 30]) Height_Actual = 0.0 # Height Display Value Height_Target = 0.0 Fence_Actual = 0.0 # Fence Display Value Fence_Target = 0.0 # Position variables FenceHomePos = 0.0 # Sensor Position for Fence Homing FenceMaxLimit = 400.0 # Maximum Fence Travel (mechanical limited) HeightHomePos = 0.0 # Sensor Position for Height Homing ( completely retracted) HeightMaxLimit = 110.0 # Maximum Fence Travel (mechanical limited)
from Stepper import stepper #import RPi.GPIO as gpio #import gpiozero #gpio.cleanup() #stepper variables #[stepPin, directionPin, enablePin] testStepper = stepper([23, 24, 22]) #test stepper testStepper.step(1000, "right") #steps, dir, speed, stayOn #clean up GPIO before end testStepper.cleanGPIO()
################# pulses/ rev ppr = 1600 ##################rpi gpio for steppers s1 = [2, 3, 4] #3,5,7 s2 = [17, 27, 22] #11,13,15 s3 = [10, 9, 11] #19,21,23 s4 = [5, 6, 13] #29,31,33 s6 = [25, 8, 7] #22,24,26 s5 = [16, 20, 21] #36,38,40 ########## Stepper Objects testStepper1 = stepper(s1) testStepper2 = stepper(s2) testStepper3 = stepper(s3) testStepper4 = stepper(s4) testStepper5 = stepper(s5) testStepper6 = stepper(s6) ############ minimum angle rotation l1 = 420 l2 = 10 l3 = 10 a1 = 10 #step servo a2 = 10 #step servo a3 = 10 #step servo a4 = 20
from Stepper import stepper #stepper variables #[stepPin, directionPin, enablePin] runStepper = stepper([25, 26, 27]) #test stepper runStepper.step(4000, "left") #steps, dir, speed, stayOn runStepper.cleanGPIO
from Stepper import stepper
from math import pi
#define ports of the steppers
x_axis_main_stepper = stepper([27, 17, 22])
x_axis_first_stepper = stepper([11, 9, 22])
x_axis_second_stepper = stepper([14, 11, 22])
y_axis_main_stepper = stepper([7, 3, 22])
y_axis_first_stepper = stepper([19, 23, 22])
y_axis_second_stepper = stepper([18, 21, 22])
#define the constants of the trajectory
P0 = [-8.249 * (10**5), -0.912] #(a, b)
P1 = [-1.6 * (10**(-8)), 8.076 * (10**(-5)), -0.1554,
134.7] #Parameters for the 1st stage
P2 = [
-5.578 * (10**(-12)), 6.007 * (10**(-8)), -258.1 * (10**(-6)), 0.5524,
-588, 2.551 * (10**5)
] #Parameters for the 2nd stage
#Creating coordinate lists
distance_list_main = [10 for i in range(0, 279)]
coordinate_list_main = [i for i in range(10, 2800, 10)]
coordinate_list_first = [i for i in range(1000, 1760, 10)]
coordinate_list_second = [i for i in range(1780, 3000, 10)]
#Creating speed lists
speed_list_main = [
P0[0] * P0[1] * 0.5 * (i**(P0[1] - 1)) for i in coordinate_list_main
]
speed_list_first = [
from Stepper import stepper testStepper = stepper([2, 3, 4]) #[stepPin, directionPin, enablePin] testStepper.step(360 * 19 * 4, "left", 0.0005) #steps, dir, speed, stayOn
except ImportError:
# Python3
import tkinter as tk
import tkinter.ttk as ttk
from Stepper import stepper
from picamera import PiCamera
from time import sleep
import numpy as np
#from skimage.io import imread, imsave
import time
#stepper variables
#[stepPin, directionPin, enablePin, limitPin]
focusStepper = stepper([23, 24, 22, 4])
def num(s):
try:
return int(s)
except ValueError:
return 1
def stepUp(event=' '):
print('hello')
focusStepper.step(num(e1.get()), "Up", 10, False)
#steps, dir, speed, stayOn
from Stepper import stepper testStepper = stepper([10, 9, 11]) #[stepPin, directionPin, enablePin] testStepper.step(360*19, "left",0.005); #steps, dir, speed, stayOn
