kopia lustrzana https://github.com/micropython/micropython-lib
54 wiersze
2.1 KiB
Python
54 wiersze
2.1 KiB
Python
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import time
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# Constants
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STEPS_PER_REV = 200 # Number of steps per motor revolution
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MIN_DELAY = 0.001 # Minimum delay between steps (controls maximum speed)
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class A4988:
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def __init__(self, step_pin, dir_pin, en_pin=None):
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self.step_pin = step_pin
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self.dir_pin = dir_pin
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self.en_pin = en_pin
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if self.en_pin is not None:
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self.enable_motor(enabled=True)
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def enable_motor(self, enabled=True):
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"""Enable or disable the motor driver (active low)."""
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if self.en_pin:
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self.en_pin.value(0 if enabled else 1)
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def step_motor(self, steps=STEPS_PER_REV, direction=1, delay=0.005):
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"""Move the motor a specified number of steps in the given direction."""
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self.dir_pin.value(direction) # Set direction (1 = forward, 0 = backward)
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for _ in range(steps):
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self.step_pin.value(1)
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time.sleep(delay)
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self.step_pin.value(0)
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time.sleep(delay)
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def calculate_speed(self, current_delay):
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"""Calculate the current speed in steps per second and RPM."""
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if current_delay <= 0:
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return 0, 0
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steps_per_second = 1 / (2 * current_delay) # Delay is for each half-step
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rpm = (steps_per_second / STEPS_PER_REV) * 60 # Convert to RPM
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return steps_per_second, rpm
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def inc_speed(self, current_delay):
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"""Decrease delay to increase speed, respecting minimum delay limit."""
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new_delay = max(current_delay - 0.001, MIN_DELAY)
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return new_delay
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def dec_speed(self, current_delay):
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"""Increase delay to decrease speed."""
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new_delay = current_delay + 0.001
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return new_delay
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def forward_motion(self, steps=STEPS_PER_REV, delay=0.005):
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"""Move motor forward for a given number of steps and delay."""
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self.step_motor(steps=steps, direction=1, delay=delay)
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def backward_motion(self, steps=STEPS_PER_REV, delay=0.005):
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"""Move motor backward for a given number of steps and delay."""
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self.step_motor(steps=steps, direction=0, delay=delay)
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