86 lines
3.1 KiB
Python
86 lines
3.1 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=10,inverted=False):
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self._pins = [Pin(p, Pin.OUT) for p in pins]
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self.reset()
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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.inverted = inverted
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loop = asyncio.get_event_loop()
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loop.create_task(self._update_async())
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def reset(self):
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self.stepnum = 0
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self._rotTarget = 0
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self.rotDirection = 0
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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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return ((self._rotTarget - self.stepnum)*self.rotDirection)
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def rotateTo(self, target=None,duration=0,direction=0,normalise = True):
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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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If target is None moves infinitely in direction
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(if direction is 0 then hold position with power)."""
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if target == None:
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self._rotTarget = None
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self.rotDirection = direction
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else:
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self._rotTarget = int(target*self.stepsPerRev)
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if normalise:
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rotTargetNorm = self._rotTarget%self.stepsPerRev
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stepsNorm = self.stepnum%self.stepsPerRev
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self._rotTarget = self.stepnum+rotTargetNorm-stepsNorm
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if (self._rotTarget-self.stepnum) > self.stepsPerRev/2:
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self._rotTarget-=self.stepsPerRev
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elif(self._rotTarget-self.stepnum) < -self.stepsPerRev/2:
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self._rotTarget+=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) 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 stop(self):
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self._rotTarget = self.stepnum
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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.rotDirection = 0
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self.disablePower()
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def _update(self):
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self.stepnum = (self.stepnum + self.rotDirection)
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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.stepnum)
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