add rotate function

put everything inside a class and a module

stepper.py

@@ -1,67 +1,106 @@
-import RPi.GPIO as GPIO
+import RPi.GPIO as gpio
 from time import sleep
-import logging
-from logging import debug
-logging.basicConfig(level=logging.DEBUG)
+# import logging
+# from logging import debug
+# logging.basicConfig(level=logging.DEBUG)
 
 
-GPIO.setmode(GPIO.BCM)
-
-PINS = {
-    'direction': [17, 0], # 1 = ckw, 0 = ccw
-    'step':      [27, 0],
-    'state':     [22, 1]  # 1 = disabled, 0 = enabled
-}
 # speed limit 0.0005 s = 500us (could be 1us) waiting between high and low
 # je hoeher die motor spannugn, desto lauter
 
-# initialize
-for name, pin in PINS.items():
-    GPIO.setup(pin[0], GPIO.OUT, initial=pin[1])
+class Stepper():
 
-def disable():
-    debug('Disabled')
-    GPIO.output(PINS['state'][0], 1)
+    def __init__(self, pins):
+        # pins = [state step direction]
+        self.pins = pins
+
+        gpio.setmode(gpio.BCM)
+
+        for pin in self.pins:
+            gpio.setup(pin, gpio.OUT)
+
+    def disable(self):
+        ''' Disable the stepper motor driver '''
+#         debug('Disabled')
+        gpio.output(self.pins[0], 1)
 
 
-def enable():
-    debug('Enabled')
-    GPIO.output(PINS['state'][0], 0)
+    def enable(self):
+        ''' Enable the stepper motor driver '''
+#         debug('Enabled')
+        gpio.output(self.pins[0], 0)
 
 
-def change_direction():
-    debug('changing direction')
-    GPIO.output(PINS['direction'][0], not GPIO.input(PINS['direction'][0]))
+    def change_state(self):
+        ''' Toggle between enabled and disabled state '''
+#         debug('changing state')
+        gpio.output(self.pins[0], not gpio.input(self.pins[0]))
 
 
-def change_state():
-    debug('changing state')
-    GPIO.output(PINS['state'][0], not GPIO.input(PINS['state'][0]))
+    def change_direction(self, direction=None):
+        ''' Change the direction '''
+#         debug('changing direction')
+        gpio.output(self.pins[2], not gpio.input(self.pins[2]))
 
 
-def step(steps=1, direction=None):
-    if direction:
-        GPIO.output(PINS['direction'][0], direction)
-    for step in range(steps):
-        GPIO.output(PINS['step'][0], 1)
-        sleep(0.005)
-        GPIO.output(PINS['step'][0], 0)
-        sleep(0.005)
+    def get_direction(self, direction):
+        ''' Translate everything but left and ccw to right '''
+        return 0 if direction in ['left', 'ccw'] else 1
+
+
+    def set_direction(self, direction):
+        ''' Set the gpio direction output pin to the desired direction '''
+        gpio.output(self.pins[2], self.get_direction(direction))
+
+
+    def single_step(self):
+        ''' Do a single step pulse '''
+        gpio.output(self.pins[1], 1)
+        sleep(0.000001) # min interval in which high gets recognized
+        gpio.output(self.pins[1], 0)
+
+
+    def step(self, steps=1, direction=None):
+        ''' Do *steps* into *direction* '''
+        self.set_direction(direction)
+        for step in range(steps):
+            self.single_step()
+            sleep(0.002)
+
+
+    def rotate(self, degrees=1.8, direction=None):
+        ''' Rotate *degrees* into *direction* '''
+        self.set_direction(direction)
+        for step in range(int(degrees/1.8)):
+            self.single_step()
+            sleep(0.002)
+
+
+    def release(self):
+        self.disable()
+        gpio.cleanup()
+
 
 if __name__ == '__main__':
+
     try:
-        while True:
-#             disable()
-#             debug('stepping ccw')
-#             step(200, 0)
-# 
-#             enable()
-#             debug('stepping cw')
-#             step(200, 1)
-            step(100)
-            change_direction()
-            change_state()
+        s = Stepper([22, 27, 17])
+        s.enable()
+        s.step(100, 'left')
+        sleep(1)
+        s.step(100)
+        sleep(1)
+        s.rotate(360)
+        sleep(1)
+        s.rotate(360, 'ccw')
+        sleep(1)
+        s.rotate(1)
+#         s.step(10)
+#         sleep(1)
+#         s.step()
+#         sleep(1)
+#         s.step(direction='left')
+
     except KeyboardInterrupt:
-        debug('cleaning up')
-        disable()
-        GPIO.cleanup()
+#         debug('cleaning up')
+        s.release()