from Stepper import Stepper
import time
stepper_time_interval_seconds = 0.1
# Pin order: [ENB|MS1|MS2|MS3|RST|SLP|STP|DIR]
stepper_A = Stepper([4, 7, 6, 5, 0, 0, 3, 2], "Stepper A",
stepper_time_interval_seconds)
stepper_B = Stepper([10, 11, 12, 13, 0, 0, 9, 8], "Stepper B",
stepper_time_interval_seconds)
stepper_C = Stepper([16, 17, 18, 19, 0, 0, 15, 14], "Stepper C",
stepper_time_interval_seconds)
stepper_D = Stepper([22, 23, 24, 25, 0, 0, 21, 20], "Stepper D",
stepper_time_interval_seconds)
print "Created 4 steppers"
stepper_A.go()
# stepper_B.go()
# stepper_C.go()
# stepper_D.go()
time.sleep(2) # Sleep 5 seconds
stepper_A.move_to_position(32.0)
print("Moved goal to 32")
time.sleep(4) # Sleep 5 seconds
stepper_B.move_to_position(-26.0)
print("Moved goal to 32")
class Osc2Steppers:
"""Class that listens for OSC messages, and forwards them as target positions for stepper motors"""
stepper_time_interval_seconds = 0.02
def __init__(self, osc_ip='0.0.0.0', osc_port=12000):
"""Create our stepper object and osc server object"""
self.debug = True
# listen for OSC messages on port 12000 (Wekinator default)
self.stepper_count = 2 #4
# Pin order: [ENB|MS1|MS2|MS3|RST|SLP|STP|DIR]
self.stepper_A = Stepper([4, 5, 6, 7, 0, 0, 3, 2], "Stepper A",
self.stepper_time_interval_seconds)
self.stepper_B = Stepper([10, 11, 12, 13, 0, 0, 9, 26], "Stepper B",
self.stepper_time_interval_seconds)
self.stepper_C = Stepper([16, 17, 18, 19, 0, 0, 15, 14], "Stepper C",
self.stepper_time_interval_seconds)
self.stepper_D = Stepper([22, 23, 24, 25, 0, 0, 21, 20], "Stepper D",
self.stepper_time_interval_seconds)
print "Created 4 steppers"
self.OSCServer = OSC.OSCServer((osc_ip, osc_port))
self.OSCServer.addMsgHandler('/wek/outputs', self.wek_outputs_handler)
self.OSCServer.addMsgHandler('/tenta_emg', self.tenta_emg_handler)
print "Tentacle Control is listening for OSC message /wek/outputs, ip %s port %s" % (
osc_ip, osc_port)
def go(self):
"""Start steppers self-updating, and start our OSC server listening"""
#self.stepper_A.go()
self.stepper_B.go()
self.stepper_C.go()
self.stepper_D.go()
self.OSCServer.serve_forever()
def tenta_emg_handler(self, addr, tags, data, client_address):
emg_avg = data[0]
if emg_avg < 125:
self.stepper_D.move_to_position(0) #position of closed
elif emg_avg < 300:
pos_interp = 0 - ((emg_avg - 125) / float(300 - 125)) * 200
self.stepper_D.move_to_position(pos_interp) #in between
else:
self.stepper_D.move_to_position(-200) #position of closed
def wek_outputs_handler(self, addr, tags, data, client_address):
"""Callback that is called when we receive an osc message with path '/wek/outputs'"""
# 0 controls back and front
# 1 controls side to side
data[0] *= 200
data[1] *= 200
if self.debug:
print "OSCMessage '%s' from %s: %s" % (addr, client_address, data)
if (len(data) != self.stepper_count):
print "Error: Expected %s OSC values, got %s" % (
self.stepper_count, len(data))
return
# HERE'S THE MAGIC!
# Pass on values to our stepper motors
#self.stepper_A.move_to_position(data[0])
self.stepper_B.set_delay()
self.stepper_B.move_to_position(data[0])
#self.stepper_C.move_to_position(data[2])
self.stepper_C.set_delay()
self.stepper_C.move_to_position(data[1])
