def __init__(self, in1, in2, in3, in4):
self.step_count = 1
self.last_time = 0
self.in_progress = False
self.startup_check = True
pinon = 1
pinoff = 0
self.phase1pinblue = stepper(in1)
self.phase2pinpink = stepper(in2)
self.phase3pinyellow = stepper(in3)
self.phase4pinorange = stepper(in4)
self.halfstep1 = [(self.phase1pinblue, pinon), (self.phase2pinpink, pinoff), (self.phase3pinyellow, pinoff), (self.phase4pinorange, pinoff)]
self.halfstep2 = [(self.phase1pinblue, pinon), (self.phase2pinpink, pinon), (self.phase3pinyellow, pinoff), (self.phase4pinorange, pinoff)]
self.halfstep3 = [(self.phase1pinblue, pinoff), (self.phase2pinpink, pinon), (self.phase3pinyellow, pinoff), (self.phase4pinorange, pinoff)]
self.halfstep4 = [(self.phase1pinblue, pinoff), (self.phase2pinpink, pinon), (self.phase3pinyellow, pinon), (self.phase4pinorange, pinoff)]
self.halfstep5 = [(self.phase1pinblue, pinoff), (self.phase2pinpink, pinoff), (self.phase3pinyellow, pinon), (self.phase4pinorange, pinoff)]
self.halfstep6 = [(self.phase1pinblue, pinoff), (self.phase2pinpink, pinoff), (self.phase3pinyellow, pinon), (self.phase4pinorange, pinon)]
self.halfstep7 = [(self.phase1pinblue, pinoff), (self.phase2pinpink, pinoff), (self.phase3pinyellow, pinoff), (self.phase4pinorange, pinon)]
self.halfstep8 = [(self.phase1pinblue, pinon), (self.phase2pinpink, pinoff), (self.phase3pinyellow, pinoff), (self.phase4pinorange, pinon)]
self.fullstep1 = [(self.phase1pinblue, pinon), (self.phase2pinpink, pinon), (self.phase3pinyellow, pinoff), (self.phase4pinorange, pinoff)]
self.fullstep2 = [(self.phase1pinblue, pinoff), (self.phase2pinpink, pinon), (self.phase3pinyellow, pinon), (self.phase4pinorange, pinoff)]
self.fullstep3 = [(self.phase1pinblue, pinoff), (self.phase2pinpink, pinoff), (self.phase3pinyellow, pinon), (self.phase4pinorange, pinon)]
self.fullstep4 = [(self.phase1pinblue, pinon), (self.phase2pinpink, pinoff), (self.phase3pinyellow, pinoff), (self.phase4pinorange, pinon)]
self.fullstep5 = [(self.phase1pinblue, pinon), (self.phase2pinpink, pinon), (self.phase3pinyellow, pinoff), (self.phase4pinorange, pinoff)]
self.fullstep6 = [(self.phase1pinblue, pinoff), (self.phase2pinpink, pinon), (self.phase3pinyellow, pinon), (self.phase4pinorange, pinoff)]
self.fullstep7 = [(self.phase1pinblue, pinoff), (self.phase2pinpink, pinoff), (self.phase3pinyellow, pinon), (self.phase4pinorange, pinon)]
self.fullstep8 = [(self.phase1pinblue, pinon), (self.phase2pinpink, pinoff), (self.phase3pinyellow, pinoff), (self.phase4pinorange, pinon)]
def __init__(self, IN1, IN2, IN3, IN4):
self.IN1 = stepper(IN1)
self.IN2 = stepper(IN2)
self.IN3 = stepper(IN3)
self.IN4 = stepper(IN4)
#Setting GPIO
self.stepPins = [self.IN1, self.IN2, self.IN3, self.IN4]
self.sequenceNumber = 0
self.stepCount = 8
def __init__(self, pins):
"""Initialise the motor object.
pins -- a list of 4 integers referring to the GPIO pins that the IN1, IN2
IN3 and IN4 pins of the ULN2003 board are wired to
mode -- the stepping mode to use:
1: wave drive (not yet implemented)
2: full step drive
3: half step drive (default)
"""
self.IN1 = stepper(pins[0]) # pin11
self.IN2 = stepper(pins[1])
self.IN3 = stepper(pins[2])
self.IN4 = stepper(pins[3])
def __init__(self, pin_array):
# moves by angle in degrees
# angle: degrees +/- [default: +45]
# speed: milliseconds [default: 1000ms]
# speed_func: string - ex: 'linear', 'cosine', etc... [default: 'linear']
self.pin_array = [stepper(pin) for pin in pin_array]
# minimum functional time between steps:
self.min_wait = 0.00075
# 4096 steps is 360 degrees
self.steps_360 = 4096
# sequence array
self.seq = [[1, 0, 0, 1], [1, 0, 0, 0], [1, 1, 0, 0], [0, 1, 0, 0],
[0, 1, 1, 0], [0, 0, 1, 0], [0, 0, 1, 1], [0, 0, 0, 1]]
def __init__(self, mode=1, pins=[12,16,20,21]):
self.mode = mode
self.pins=pins
self.IN1 = stepper(pins[0])
self.IN2 = stepper(pins[1])
self.IN3 = stepper(pins[2])
self.IN4 = stepper(pins[3])
self.stepPins = [self.IN1,self.IN2,self.IN3,self.IN4]
if self.mode: # Low Speed ==> High Power
self.seq = [[1,0,0,1], # Define step sequence as shown in manufacturers datasheet
[1,0,0,0],
[1,1,0,0],
[0,1,0,0],
[0,1,1,0],
[0,0,1,0],
[0,0,1,1],
[0,0,0,1]]
else: # High Speed ==> Low Power
self.seq = [[1,0,0,0], # Define step sequence as shown in manufacturers datasheet
[0,1,0,0],
[0,0,1,0],
[0,0,0,1]]
self.stepCount = len(self.seq)
from gpiozero import OutputDevice as stepper
import time
#horizontal motor
step1_1 = stepper(12)
step1_2 = stepper(16)
step1_3 = stepper(20)
step1_4 = stepper(21)
step1 = (step1_1, step1_2, step1_3, step1_4)
stepping = [[1, 1, 0, 0], [0, 1, 1, 0], [0, 0, 1, 1], [1, 0, 0, 1]]
busy = False
def rotate(num):
#rotates motor; positive for counterclockwise
busy = True
loopCtrl = 200
stepCounter = 0
stepPins = step1
while loopCtrl > 0:
for pin in range(0, 4):
thisPin = stepPins[pin]
if stepping[stepCounter][pin] != 0:
thisPin.on()
else:
thisPin.off()
stepCounter += num
if (stepCounter >= len(stepping)):
import time
import sys
from gpiozero import OutputDevice as stepper
IN1 = stepper(12)
IN2 = stepper(16)
IN3 = stepper(20)
IN4 = stepper(21)
stepPins = [IN1, IN2, IN3, IN4] # Motor GPIO pins</p><p>
stepDir = -1 # Set to 1 for clockwise
# Set to -1 for anti-clockwise
mode = 0 # mode = 1: Low Speed ==> Higher Power
# mode = 0: High Speed ==> Lower Power
if mode: # Low Speed ==> High Power
seq = [
[1, 0, 0,
1], # Define step sequence as shown in manufacturers datasheet
[1, 0, 0, 0],
[1, 1, 0, 0],
[0, 1, 0, 0],
[0, 1, 1, 0],
[0, 0, 1, 0],
[0, 0, 1, 1],
[0, 0, 0, 1]
]
else: # High Speed ==> Low Power
seq = [
[1, 0, 0,
0], # Define step sequence as shown in manufacturers datasheet
[0, 1, 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]
pi = pigpio.pi('PI IP ADDRESS', 8888)
if not pi.connected:
print('Could not connect to Pi.')
factory = PiGPIOFactory('PI IP ADDRESS')
FRAME_THICKNESS = 3
encodings = []
locations = []
#set () to 1 so it would use external webcam
video_capture = cv2.VideoCapture(1)
#horizontal motor
step1_1 = stepper(12, pin_factory=factory)
step1_2 = stepper(16, pin_factory=factory)
step1_3 = stepper(20, pin_factory=factory)
step1_4 = stepper(21, pin_factory=factory)
step1 = (step1_1, step1_2, step1_3, step1_4)
stepping = [[1, 1, 0, 0], [0, 1, 1, 0], [0, 0, 1, 1], [1, 0, 0, 1]]
def rotate(num):
#rotates motor; positive for counterclockwise
loopCtrl = 20
stepCounter = 0
stepPins = step1
while loopCtrl > 0:
#data from database
cellnum = ''
em = ''
trapid = '8165010001'
# end data from database
#
trapdata = {}
detector = Button(23)
flashone = LED(26)
flashtwo = LED(19)
p1 = stepper(12) # orange
p2 = stepper(16) # purple
p3 = stepper(20) # red
p4 = stepper(21) # brown
cam = PiCamera()
def ftpupload():
server = 'ftp.zachariahferguson.com'
username = '******'
password = '******'
ftp_connection = ftplib.FTP(server, username, password)
fh = open(trapid + '.jpg', 'rb')
ftp_connection.storbinary('STOR ' + trapid + '.jpg', fh)
def __init__(self):
self.motor = [stepper(23), stepper(25), stepper(22), stepper(24)]
import time
from gpiozero import OutputDevice as stepper
IN1 = stepper(23)
IN2 = stepper(24)
IN3 = stepper(7)
IN4 = stepper(11)
StepPins = [IN1, IN2, IN3, IN4]
# Define sequence as shown in manufacturers data sheet
Seq = [
[1, 0, 0, 1],
[1, 0, 0, 0],
[1, 1, 0, 0],
[0, 1, 0, 0],
[0, 1, 1, 0],
[0, 0, 1, 0],
[0, 0, 1, 1],
[0, 0, 0, 1],
]
StepCount = len(Seq)
StepDir = 1
WaitTime = 0.01
StepCounter = 0
while True:
print(StepCounter)
print(Seq[StepCounter])
for pin in range(0, 4):
