70 lines
2.4 KiB
Python
70 lines
2.4 KiB
Python
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,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.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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self._pins[1].value(level[1])
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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 getStepsToTarget(self):
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return ((self._rotTarget - self.stepnum)*self.rotDirection)%self.stepsPerRev
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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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if not self.isAtTarget():
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if (direction == 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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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) 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 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 (self._rotTarget%self.stepsPerRev == self.stepnum%self.stepsPerRev)
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