-
Notifications
You must be signed in to change notification settings - Fork 1
/
StepperMotor.py
99 lines (65 loc) · 2.47 KB
/
StepperMotor.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
#IMPORTS
#!/usr/bin/python
from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_StepperMotor
import time
import atexit
import json
import time
import threading
import os
import sys
#~~~~~~~~~~~~~~~~~~SETUP OF MOTOR~~~~~~~~~~~~~~~~~~~
# create a default object, no changes to I2C address or frequency
mh = Adafruit_MotorHAT(addr = 0x60)
# recommended for auto-disabling motors on shutdown!
def turnOffMotors():
mh.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
atexit.register(turnOffMotors)
myStepper = mh.getStepper(100, 1) # 200 steps/rev, motor port #1
myStepper.setSpeed(30) # 30 RPM
start = int(sys.argv[1])
end = int(sys.argv[2])
diff = start - end
if diff < 0 :
if diff == -3:
myStepper.step(50, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.DOUBLE)
print(25)
else:
myStepper.step(abs(diff)*50, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.DOUBLE)
print(abs(diff)*25)
else:
if diff == 3:
myStepper.step(50, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.DOUBLE)
print(25)
else:
myStepper.step(abs(diff)*50, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.DOUBLE)
print(abs(diff)*25)
#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#***JSON***
#stepsMoved = {'position': 0}
#with open('winStat.json', 'w+') as f:
# f.write(json.dumps(stepsMoved))
#with open('winStat.json', 'r') as f:
# stepsMoved = json.loads(f.read())
# print stepsMoved['position']
#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#def stepper_worker(stepper, numsteps, direction, style):
# print("Steppin!")
# stepper.step(numsteps, direction, style)
# print("Done")
#def spin():
# print("Single coil steps")
# myStepper.step(400, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.SINGLE)
#start=spin()
# temp commands
#if stepsMoved['position'] == 0:
# print "Window is closed all the way at the moment.\n"
#elif temp_c>15 or temp_c==15:
# print "It's nice outside! \n Window is opening."
# myStepper.step(400, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.DOUBLE)
# stepsMoved = {'position': 1}
# with open('winStat.json', 'w+') as f:
# f.write(json.dumps(stepsMoved))