kopia lustrzana https://github.com/zhcong/ULN2003-for-ESP32
62 wiersze
1.8 KiB
Python
62 wiersze
1.8 KiB
Python
import time
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# only test for uln2003
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class Stepper:
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FULL_ROTATION = int(4075.7728395061727 / 8) # http://www.jangeox.be/2013/10/stepper-motor-28byj-48_25.html
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HALF_STEP = [
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[0, 0, 0, 1],
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[0, 0, 1, 1],
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[0, 0, 1, 0],
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[0, 1, 1, 0],
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[0, 1, 0, 0],
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[1, 1, 0, 0],
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[1, 0, 0, 0],
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[1, 0, 0, 1],
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]
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FULL_STEP = [
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[1, 0, 1, 0],
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[0, 1, 1, 0],
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[0, 1, 0, 1],
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[1, 0, 0, 1]
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]
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def __init__(self, mode, pin1, pin2, pin3, pin4, delay):
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if mode=='FULL_STEP':
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self.mode = self.FULL_STEP
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else:
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self.mode = self.HALF_STEP
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self.pin1 = pin1
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self.pin2 = pin2
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self.pin3 = pin3
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self.pin4 = pin4
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self.delay = delay # Recommend 10+ for FULL_STEP, 1 is OK for HALF_STEP
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# Initialize all to 0
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self.reset()
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def step(self, count, direction=1):
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"""Rotate count steps. direction = -1 means backwards"""
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if count<0:
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direction = -1
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count = -count
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for x in range(count):
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for bit in self.mode[::direction]:
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self.pin1(bit[0])
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self.pin2(bit[1])
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self.pin3(bit[2])
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self.pin4(bit[3])
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time.sleep_ms(self.delay)
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self.reset()
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def angle(self, r, direction=1):
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self.step(int(self.FULL_ROTATION * r / 360), direction)
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def reset(self):
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# Reset to 0, no holding, these are geared, you can't move them
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self.pin1(0)
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self.pin2(0)
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self.pin3(0)
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self.pin4(0)
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def create(pin1, pin2, pin3, pin4, delay=2, mode='HALF_STEP'):
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return Stepper(mode, pin1, pin2, pin3, pin4, delay)
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