Merge pull request #65

Fix stepper continuous reverse direction

examples/stepper_absolute.py

@@ -70,7 +70,7 @@ def step_absolute(the_board):
     # create an accelstepper instance for a TB6600 motor drive
     # if you are using a micro stepper controller board:
     # pin1 = pulse pin, pin2 = direction
-    motor = the_board.set_pin_mode_stepper(interface=2, pin1=PULSE_PIN,
+    motor = the_board.set_pin_mode_stepper(interface=1, pin1=PULSE_PIN,
                                                  pin2=DIRECTION_PIN)
 
     # if you are using a 28BYJ-48 Stepper Motor with ULN2003

examples/stepper_continuous.py

@@ -26,6 +26,9 @@
 """
 Run a motor continuously without acceleration
 """
+# GPIO Pins
+PULSE_PIN = 8
+DIRECTION_PIN = 9
 
 # Create a Telemetrix instance.
 board = telemetrix.Telemetrix()
@@ -39,24 +42,31 @@ def the_callback(data):
 
 
 # create an accelstepper instance for a TB6600 motor driver
-# motor = board.set_pin_mode_stepper(interface=1, pin1=7, pin2=8)
+motor = board.set_pin_mode_stepper(interface=1, pin1=PULSE_PIN, pin2=DIRECTION_PIN)
 
-# if you are using a 28BYJ-48 Stepper Motor with ULN2003
-# comment out the line above and uncomment out the line below.
-motor = board.set_pin_mode_stepper(interface=8, pin1=8, pin2=10, pin3=9, pin4=11)
+try:
+    while True:
+        # set the max speed and speed
+        board.stepper_set_max_speed(motor, 999)
+        board.stepper_set_speed(motor, 500)
 
+        # run the motor
+        board.stepper_run_speed(motor)
 
-# set the max speed and speed
-board.stepper_set_max_speed(motor, 900)
-board.stepper_set_speed(motor, 500)
+        time.sleep(5)
+
+        # reverse direction
+        board.stepper_stop(motor)
+        time.sleep(2)
+
+        board.stepper_set_max_speed(motor, 999)
+        board.stepper_set_speed(motor, -500)
+        board.stepper_run_speed(motor)
+
+        time.sleep(5)
+
+except KeyboardInterrupt:
+    board.shutdown()
+    sys.exit(0)
 
-# run the motor
-board.stepper_run_speed(motor)
 
-# keep application running
-while True:
-    try:
-        time.sleep(1)
-    except KeyboardInterrupt:
-        board.shutdown()
-        sys.exit(0)

examples/stepper_relative.py

@@ -63,7 +63,7 @@ def step_relative(the_board):
     # create an accelstepper instance for a TB6600 motor driver
     # if you are using a micro stepper controller board:
     # pin1 = pulse pin, pin2 = direction
-    motor = the_board.set_pin_mode_stepper(interface=2, pin1=PULSE_PIN,
+    motor = the_board.set_pin_mode_stepper(interface=1, pin1=PULSE_PIN,
                                                  pin2=DIRECTION_PIN)
 
     # if you are using a 28BYJ-48 Stepper Motor with ULN2003

examples/stepper_run_speed_to_position.py

@@ -24,6 +24,9 @@
 """
 Run a motor using runSpeedToPosition position
 """
+# GPIO Pins
+PULSE_PIN = 8
+DIRECTION_PIN = 9
 
 # Create a Telemetrix instance.
 board = telemetrix.Telemetrix()
@@ -39,7 +42,7 @@ def the_callback(data):
 
 # if you are using a 28BYJ-48 Stepper Motor with ULN2003
 # comment out the line above and uncomment out the line below.
-motor = board.set_pin_mode_stepper(interface=8, pin1=8, pin2=10, pin3=9, pin4=11)
+motor = board.set_pin_mode_stepper(interface=1, pin1=PULSE_PIN, pin2=DIRECTION_PIN)
 
 
 # set the max speed and target position

examples/wifi/blink_wifi.py

@@ -28,10 +28,10 @@
 """
 
 # some globals
-DIGITAL_PIN = 5  # the board LED
+DIGITAL_PIN = 2  # the board LED
 
 # Create a Telemetrix instance.
-board = telemetrix.Telemetrix(ip_address='192.168.2.112')
+board = telemetrix.Telemetrix(ip_address='192.168.2.118', ip_port=31336)
 
 # Set the DIGITAL_PIN as an output pin
 board.set_pin_mode_digital_output(DIGITAL_PIN)

examples/wifi/servo_wifi.py

@@ -31,7 +31,7 @@
 SERVO_PIN = 4
 
 # Create a Telemetrix instance.
-board = telemetrix.Telemetrix(ip_address='192.168.2.220')
+board = telemetrix.Telemetrix(ip_address='192.168.2.168')
 board.set_pin_mode_servo(SERVO_PIN)
 time.sleep(.2)
 board.servo_write(SERVO_PIN, 90)

setup.py

@@ -11,7 +11,7 @@
     packages=['telemetrix'],
     install_requires=['pyserial'],
 
-    version='1.20',
+    version='1.30',
     description="Remotely Control And Monitor Arduino-Core devices",
     long_description=long_description,
     long_description_content_type='text/markdown',

telemetrix/private_constants.py

@@ -103,7 +103,7 @@ class PrivateConstants:
     FEATURES = 20
     DEBUG_PRINT = 99
 
-    TELEMETRIX_VERSION = "1.20"
+    TELEMETRIX_VERSION = "1.30"
 
     # reporting control
     REPORTING_DISABLE_ALL = 0

telemetrix/telemetrix.py

@@ -315,8 +315,9 @@ def __init__(self, com_port=None, arduino_instance_id=1,
             raise RuntimeError(f'Telemetrix4Arduino firmware version')
 
         else:
-            if self.firmware_version[0] < 5:
-                raise RuntimeError('Please upgrade the server firmware to version 5.0.0 or greater')
+            # if self.firmware_version[0] < 5:
+            #   raise RuntimeError('Please upgrade the server firmware to version '
+            #                        '5.0.0 or greater')
             print(f'Telemetrix4Arduino firmware version: {self.firmware_version[0]}.'
                   f'{self.firmware_version[1]}.{self.firmware_version[2]}')
         command = [PrivateConstants.ENABLE_ALL_REPORTS]
@@ -1280,31 +1281,42 @@ def stepper_set_speed(self, motor_id, speed):
 
         :param motor_id: 0 - 3
 
-        :param speed: 0 - 1000 The desired constant speed in steps per
+        :param speed: -1000 - 1000 The desired constant speed in steps per
                       second. Positive is clockwise. Speeds of more than 1000 steps per
                       second are unreliable. Speed accuracy depends on the Arduino
                       crystal. Jitter depends on how frequently you call the
                       stepper_run_speed() method.
                       The speed will be limited by the current value of
                       stepper_set_max_speed().
         """
+
         if not self.stepper_info_list[motor_id]['instance']:
             if self.shutdown_on_exception:
                 self.shutdown()
             raise RuntimeError('stepper_set_speed: Invalid motor_id.')
 
-        if not 0 < speed <= 1000:
+        if not -1000 <= speed <= 1000:
             if self.shutdown_on_exception:
                 self.shutdown()
-            raise RuntimeError('stepper_set_speed: Speed range is 0 - '
-                               '1000.')
+            raise RuntimeError('stepper_set_speed: speed range is -1000 to 1000')
 
-        self.stepper_info_list[motor_id]['speed'] = speed
+        if speed < 0:
+            polarity = 1
+        else:
+            polarity = 0
 
-        speed_msb = speed >> 8
-        speed_lsb = speed & 0xff
+        speed = abs(speed)
+        if not self.stepper_info_list[motor_id]['instance']:
+            if self.shutdown_on_exception:
+                self.shutdown()
+            raise RuntimeError('stepper_move: Invalid motor_id.')
+
+        position_bytes = list(speed.to_bytes(2, 'big', signed=True))
 
-        command = [PrivateConstants.STEPPER_SET_SPEED, motor_id, speed_msb, speed_lsb]
+        command = [PrivateConstants.STEPPER_SET_SPEED, motor_id]
+        for value in position_bytes:
+            command.append(value)
+        command.append(polarity)
         self._send_command(command)
 
     def stepper_get_speed(self, motor_id):