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
100
101
102
103
|
#-----------------------------------
# Name: Stepper Motor
#
# Author: matt.hawkins
#
# Created: 11/07/2012
# Copyright: (c) matt.hawkins 2012
#-----------------------------------
#!/usr/bin/env python
# Import required libraries
import time
import sys
import RPi.GPIO as GPIO
# Use BCM GPIO references
# instead of physical pin numbers
GPIO.setmode(GPIO.BOARD)
# Define GPIO signals to use
# Pins 19,22,24,26
# GPIO10,GPIO25,GPIO8,GPIO7
StepPins = [26,24,22,19]
#StepPins = [24,22,26,19]
# Set all pins as output
for pin in StepPins:
print "Setup pins"
GPIO.setup(pin,GPIO.OUT)
GPIO.output(pin, False)
# Define some settings
StepCounter = 0
WaitTime = 0.000001
#WaitTime = 0.001
# Define simple sequence
StepCount1 = 4
Seq1 = []
Seq1 = range(0, StepCount1)
Seq1[0] = [1,0,0,0]
Seq1[1] = [0,1,0,0]
Seq1[2] = [0,0,1,0]
Seq1[3] = [0,0,0,1]
#Seq1[3] = [1,0,0,0]
#Seq1[2] = [0,1,0,0]
#Seq1[1] = [0,0,1,0]
#Seq1[0] = [0,0,0,1]
# Define advanced sequence
# as shown in manufacturers datasheet
StepCount2 = 8
Seq2 = []
Seq2 = range(0, StepCount2)
Seq2[7] = [1,0,0,0]
Seq2[6] = [1,1,0,0]
Seq2[5] = [0,1,0,0]
Seq2[4] = [0,1,1,0]
Seq2[3] = [0,0,1,0]
Seq2[2] = [0,0,1,1]
Seq2[1] = [0,0,0,1]
Seq2[0] = [1,0,0,1]
# Choose a sequence to use
Seq = Seq2
StepCount = StepCount2
GlobalCount = 1600
Cycles = 0
# Start main loop
while 1==1:
for pin in range(0, 4):
xpin = StepPins[pin]
pinVal = Seq[StepCounter][pin]
if pinVal!=0:
#print " Step %i Enable %i" %(StepCounter,xpin)
GPIO.output(xpin, True)
else:
GPIO.output(xpin, False)
StepCounter += 1
Cycles +=1
print " Stepcounter: %i" %(StepCounter)
# If we reach the end of the sequence
# start again
if (StepCounter==StepCount):
StepCounter = 0
if (StepCounter<0):
StepCounter = StepCount
if (GlobalCount == Cycles):
sys.exit()
# Wait before moving on
time.sleep(WaitTime)
|
