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#-----------------------------------
# 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 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]
# 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 = 0.002
# 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[0] = [1,0,0,0]
Seq2[1] = [1,1,0,0]
Seq2[2] = [0,1,0,0]
Seq2[3] = [0,1,1,0]
Seq2[4] = [0,0,1,0]
Seq2[5] = [0,0,1,1]
Seq2[6] = [0,0,0,1]
Seq2[7] = [1,0,0,1]
# Choose a sequence to use
Seq = Seq1
StepCount = StepCount1
# 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
# If we reach the end of the sequence
# start again
if (StepCounter==StepCount):
StepCounter = 0
if (StepCounter<0):
StepCounter = StepCount
# Wait before moving on
time.sleep(WaitTime)
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