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Microstep_Driver.py
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Microstep_Driver.py
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import pigpio
import time
#Microstep Driver Class
#ENA must be ahead of DIR by at least 5us. Usually, ENA+ and ENA- are NC (not connected).
#DIR must be ahead of PUL active edge by 5us to ensure correct direction
#According to documentation, a pulse width should be no less than ~7.5 microseconds
class stepper():
def __init__(self, pi, enable_pin, forward_pin, reverse_pin, pulse_pin):
self.enable_pin = enable_pin
self.forward_pin = forward_pin
self.reverse_pin = reverse_pin
self.pulse_pin = pulse_pin
self.pi = pi
self.pi.set_mode(self.enable_pin, pigpio.OUTPUT)
self.pi.set_mode(self.forward_pin, pigpio.OUTPUT)
self.pi.set_mode(self.reverse_pin, pigpio.OUTPUT)
self.pi.set_mode(self.pulse_pin, pigpio.OUTPUT)
self.pi.write(self.enable_pin, 0) #Enable low...
self.pi.write(self.forward_pin, 0)
self.pi.write(self.reverse_pin, 0)
self.pi.write(self.pulse_pin, 0)
def pulse_forward(self):
self.pi.write(self.reverse_pin, 0)
self.pi.write(self.forward_pin, 1)
self.pi.write(self.pulse_pin, 1)
time.sleep(10*10**-6)
self.pi.write(self.pulse_pin, 0)
def pulse_backward(self):
self.pi.write(self.forward_pin, 0)
self.pi.write(self.reverse_pin, 1)
self.pi.write(self.pulse_pin, 1)
time.sleep(10*10**-6)
self.pi.write(self.pulse_pin, 0)
def steps_forward(self, steps, delay):
for i in range(steps):
self.pulse_forward()
time.sleep(delay)
def steps_backward(self, steps, delay):
for i in range(steps):
self.pulse_backward()
time.sleep(delay)
def cleanup(self):
self.pi.write(self.enable_pin, 1) #Disable the stepper
self.pi.write(self.forward_pin, 0)#All pins low...
self.pi.write(self.reverse_pin, 0)
self.pi.write(self.pulse_pin, 0)
self.pi.stop()
def forward_test(steps, delay):
pi = pigpio.pi()
motor = stepper(pi, 26, 13, 19, 6)
motor.steps_forward(steps, delay)
motor.cleanup()
if __name__ == "__main__":
pass