Transition to async
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30
Button.py
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30
Button.py
Normal file
@ -0,0 +1,30 @@
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import machine
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import time
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class Button():
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def __init__(self,pin,onPushDown = None, onPushUp = None,debounceTimeMs = 50,inputMode = machine.Pin.IN,inverted = False):
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self.pin = machine.Pin(pin,inputMode)
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self.pressedTime = -debounceTimeMs
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self.debounceTimeMs = int(debounceTimeMs)
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self.onPushDown = onPushDown
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self.onPushUp = onPushUp
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self.pin.irq(trigger=machine.Pin.IRQ_RISING|machine.Pin.IRQ_FALLING , handler=self._IRQ)
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self.value = self.pin.value()
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self.inverted = inverted
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def _IRQ(self,p):
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new_value = self.pin.value()
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if (self.value != new_value):
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self.value = new_value
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time_ms = time.ticks_ms()
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if ((self.pressedTime+self.debounceTimeMs) < time_ms):
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self.pressedTime = time_ms
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if (new_value ^ self.inverted):
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if (self.onPushUp != None):
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self.onPushUp()
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else:
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if (self.onPushDown != None):
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self.onPushDown()
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else:
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pass
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@ -22,6 +22,8 @@ Pin (ESP32)| Function
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## Reference
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[L298M H-Bridge](https://www.instructables.com/id/Control-DC-and-stepper-motors-with-L298N-Dual-Moto/)
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[DS3231 RTC](https://github.com/micropython-Chinese-Community/mpy-lib/tree/master/misc/DS3231)
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[NodeMCU-32S Pinout](https://www.shenzhen2u.com/NodeMCU-32S)
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[ESP32 Usable Pins](https://randomnerdtutorials.com/esp32-pinout-reference-gpios/)
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@ -1,23 +1,31 @@
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import StepperL298M
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import time
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import uasyncio as asyncio
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class StepperClock:
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def __init__(self,stepperHour,stepperMin):
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self._stepperMinute = stepperMin
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self._stepperHour = stepperHour
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self.started_async = False
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def start(self):
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if not self.started_async:
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self.started_async = True
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self._stepperMinute.start()
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self._stepperHour.start()
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loop = asyncio.get_event_loop()
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loop.create_task(self._update_async())
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async def _update_async(self):
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while(True):
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await asyncio.sleep(1)
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self.update()
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def update(self):
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hour = time.localtime()[3]
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minute = time.localtime()[4]
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self._stepperHour.rotateTo(hour/60)
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self._stepperMinute.rotateTo(minute/60)
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self._stepperHour.update()
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self._stepperMinute.update()
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def waitForStillstand(self):
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while not (self._stepperHour.isAtTarget() or self._stepperMinute.isAtTarget()):
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self._stepperHour.update()
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self._stepperMinute.update()
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time.sleep(0.1)
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self._stepperHour.rotateTo(1-((hour%12)/12+minute/(12*60)))
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self._stepperMinute.rotateTo(1-minute/60)
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def disablePower(self):
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self._stepperHour.disablePower()
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@ -1,16 +1,27 @@
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from machine import Pin
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import time
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import uasyncio as asyncio
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stepping = [[1,0,1,0],[1,0,0,0],[1,0,0,1],[0,0,0,1],[0,1,0,1],[0,1,0,0],[0,1,1,0],[0,0,1,0]]
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class Stepper:
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def __init__(self,pins,stepsPerRev=400):
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def __init__(self,pins,stepsPerRev=400,stepDurationMs=50,inverted=False):
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self._pins = [Pin(p, Pin.OUT) for p in pins]
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self.stepnum = 0
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self.rotDirection = 1
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self.rotTarget = 0
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self.stepDuration = 0.05
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self._rotTarget = 0
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self.stepDurationMs = stepDurationMs
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self._speedMs = 0
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self._lastStepTime = time.time()
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self.stepsPerRev=stepsPerRev
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self.started_async = False
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self.inverted = inverted
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def start(self):
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if not self.started_async:
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self.started_async = True
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loop = asyncio.get_event_loop()
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loop.create_task(self._update_async())
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def _setPins(self,level):
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self._pins[0].value(level[0])
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@ -18,37 +29,41 @@ class Stepper:
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self._pins[2].value(level[2])
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self._pins[3].value(level[3])
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def doSteppsBlock(self,num,speed=0.05):
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for i in range(num):
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self.stepnum = (self.stepnum + 1)
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self._setPins(stepping[self.stepnum%8])
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time.sleep(speed)
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self.disablePower()
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def getStepsToTarget(self):
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return ((self._rotTarget - self.stepnum)*self.rotDirection)%self.stepsPerRev
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def rotateTo(self, target,direction=0):
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def rotateTo(self, target,duration=0,direction=0):
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"""sets the rotation target and (if direction == 0) calculates if
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it should rotate left or right"""
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self.rotTarget = int(target*self.stepsPerRev) % self.stepsPerRev
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self._rotTarget = int(target*self.stepsPerRev) % self.stepsPerRev
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if not self.isAtTarget():
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if (direction == 0):
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self.rotDirection = 1 if (self.stepnum- self.rotTarget)%self.stepsPerRev \
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> self.stepsPerRev/2 else 0
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self.rotDirection = 1 if (self._rotTarget - self.stepnum)%self.stepsPerRev \
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< self.stepsPerRev/2 else -1
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else:
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self.rotDirection = direction
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self._speedMs = max(int(self.stepDurationMs),duration*1000/self.getStepsToTarget())
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def update(self):
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if (self.rotTarget%self.stepsPerRev != self.stepnum%self.stepsPerRev) \
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and not self.isMoving():
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self._lastStepTime = time.ticks_ms()
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async def _update_async(self):
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while(True):
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await asyncio.sleep_ms(self.stepDurationMs)
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if not self.isAtTarget():
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self._update()
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else:
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self.disablePower()
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def _update(self):
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self.stepnum = (self.stepnum + self.rotDirection) % self.stepsPerRev
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self._setPins(stepping[self.stepnum%8])
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#time.sleep(speed)
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self._setPins(stepping[(self.stepnum%8) if not self.inverted else ((8-self.stepnum)%8)])
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def disablePower(self):
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self._setPins([0,0,0,0])
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def isMoving(self):
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return time.ticks_diff(time.ticks_ms(), self._lastStepTime) <= self.stepDuration
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def getOrientation(self):
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return self.stepnum / self.stepsPerRev
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def getTarget(self):
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return (self._rotTarget / self.stepsPerRev)
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def isAtTarget(self):
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return (not self.isMoving()) \
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and (self.rotTarget%self.stepsPerRev == self.stepnum%self.stepsPerRev)
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return (self._rotTarget%self.stepsPerRev == self.stepnum%self.stepsPerRev)
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47
main.py
47
main.py
@ -1,24 +1,41 @@
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import time
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import machine
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import DS3231
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import Button
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import uasyncio as asyncio
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import StepperL298M
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import StepperClock
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#Async
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loop = asyncio.get_event_loop()
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#Initialise the time module with the RTC
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dsRtc = DS3231.DS3231(machine.I2C(sda = machine.Pin(17), scl=machine.Pin(18)))
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rtc = machine.RTC()
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rtc.init(dsRtc.DateTime()+[0])
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#while(True):
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# print(rtc.DateTime())
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# time.sleep(0.1)
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# pass
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#import StepperL298M
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#import StepperClock
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#stepperminu = StepperL298M.Stepper([12,27,26,25],stepsPerRev=408)
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#stepperhour = StepperL298M.Stepper([19,21,22,23])
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#clock = StepperClock.StepperClock(stepperhour,stepperminu)
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#Initalise the Motors
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stepperminu = StepperL298M.Stepper([19,21,22,23],inverted=False)
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stepperhour = StepperL298M.Stepper([12,27,26,25],inverted=True)
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clock = StepperClock.StepperClock(stepperhour,stepperminu)
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#while(True):
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# clock.update()
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# clock.waitForStillstand()
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# clock.disablePower()
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# time.sleep(0.1)
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LED = machine.Pin(32,machine.Pin.OUT)
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def leftButtonClick():
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global i
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print("Down",LED.value())
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LED.value(not LED.value())
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stepperhour.rotateTo(stepperhour.getTarget()+0.1)
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Button.Button(36,leftButtonClick,None,inverted=True)
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def rightButtonClick():
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global i
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print("Down",LED.value())
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LED.value(not LED.value())
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stepperhour.rotateTo(stepperhour.getTarget()-0.2)
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Button.Button(34,rightButtonClick,None,inverted=True)
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clock.start()
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loop.run_forever()
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