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sgh_Stepper.py
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sgh_Stepper.py
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#!/usr/bin/env python
# sgh_Stepper - control 5 pin stepper motors from ScratchGPIO.
#Copyright (C) 2013 by Simon Walters
#This program is free software; you can redistribute it and/or
#modify it under the terms of the GNU General Public License
#as published by the Free Software Foundation; either version 2
#of the License, or (at your option) any later version.
#This program is distributed in the hope that it will be useful,
#but WITHOUT ANY WARRANTY; without even the implied warranty of
#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
#GNU General Public License for more details.
#You should have received a copy of the GNU General Public License
#along with this program; if not, write to the Free Software
#Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
Version = '0.1.0' # 26Nov13
import time
import threading
import datetime as dt
#----------------------------- STEPPER CONTROL --------------
class sghStepper(threading.Thread):
def __init__(self,sghGC,pins,step_delay=0.003,lstepMode = "2coil"):
self.BigNum = 2123456789
self.step_delay = step_delay
self.lstepMode = lstepMode
self.sghGC = sghGC
self.stepperSpeed = 0 #stepp speed dset to 0 when thread created
self.steps = self.BigNum # default to psuedo infinte number of turns
self.terminated = False
self.toTerminate = False
threading.Thread.__init__(self)
self._stop = threading.Event()
self.pins = pins
self.slow_start = self.steps
self.steps_start = self.steps
self.paused = False
self.pause_start_time = dt.datetime.now()
def start(self):
self.thread = threading.Thread(None, self.run, None, (), {})
self.thread.start()
def stop(self):
#print "Stop Stepper command given"
self.toTerminate = True
while self.terminated == False:
# Just wait
time.sleep(0.01)
print "Stepper stopped"
def changeSpeed(self, stepperSpeed,steps):
self.stepperSpeed = int(stepperSpeed)
self.steps = int(steps)
self.steps_start = self.steps
self.slow_start = self.steps - int(min(64,max(1,int(float(self.steps)*0.8))))
if self.steps > (self.BigNum / 2):
self.slow_start = self.steps - 64
def step_coarse(self,a,b,c,d,delay):
#print self.lstepMode
if self.lstepMode == '1coil':
self.sghGC.pinUpdate(d,0)
self.sghGC.pinUpdate(a,1)
time.sleep(delay)
self.sghGC.pinUpdate(b,1)
self.sghGC.pinUpdate(a,0)
time.sleep(delay)
self.sghGC.pinUpdate(c,1)
self.sghGC.pinUpdate(b,0)
time.sleep(delay)
self.sghGC.pinUpdate(d,1)
self.sghGC.pinUpdate(c,0)
time.sleep(delay)
elif self.lstepMode == '2coil':
self.sghGC.pinUpdate(d,0)
self.sghGC.pinUpdate(c,0)
self.sghGC.pinUpdate(a,1)
self.sghGC.pinUpdate(b,1)
time.sleep(delay)
self.sghGC.pinUpdate(a,0)
self.sghGC.pinUpdate(c,1)
time.sleep(delay)
self.sghGC.pinUpdate(b,0)
self.sghGC.pinUpdate(d,1)
time.sleep(delay)
self.sghGC.pinUpdate(c,0)
self.sghGC.pinUpdate(a,1)
time.sleep(delay)
elif self.lstepMode == 'halfstep':
self.sghGC.pinUpdate(d,0)
self.sghGC.pinUpdate(a,1)
time.sleep(delay)
self.sghGC.pinUpdate(b,1)
time.sleep(delay)
self.sghGC.pinUpdate(a,0)
time.sleep(delay)
self.sghGC.pinUpdate(c,1)
time.sleep(delay)
self.sghGC.pinUpdate(b,0)
time.sleep(delay)
self.sghGC.pinUpdate(d,1)
time.sleep(delay)
self.sghGC.pinUpdate(c,0)
time.sleep(delay)
self.sghGC.pinUpdate(a,1)
time.sleep(delay)
def pause(self):
self.sghGC.pinUpdate(self.pins[0],0)
self.sghGC.pinUpdate(self.pins[1],0)
self.sghGC.pinUpdate(self.pins[2],0)
self.sghGC.pinUpdate(self.pins[3],0)
self.paused = True
print self.pins[0], "pause method run"
def run(self):
#time.sleep(2) # just wait till board likely to be up and running
self.pause_start_time = dt.datetime.now()
while self.toTerminate == False:
#print self.pins[0],self.pins[1],self.pins[2],self.pins[3]
if (self.steps > 0):
self.steps = self.steps - 1
self.local_stepper_value=self.stepperSpeed # get stepper value in case its changed during this thread
if self.local_stepper_value != 0: #if stepper_value non-zero
self.currentStepDelay = self.step_delay * 100 / abs(self.local_stepper_value)
if self.steps < (self.steps_start - self.slow_start) :
self.currentStepDelay = self.currentStepDelay * (3.0 - (((self.steps) / float(self.steps_start - self.slow_start)))*2.0)
#print 2.0 - ((self.steps) / float(self.steps_start - self.slow_start))
if (self.slow_start < self.steps):
#print 2.0 - ((self.steps_start - self.steps) / float(self.steps_start - self.slow_start))
self.currentStepDelay = self.currentStepDelay * (3.0 - (((self.steps_start - self.steps) / float(self.steps_start - self.slow_start)))*2.0)
#print self.steps, self.currentStepDelay
if self.local_stepper_value > 0: # if positive value
self.step_coarse(self.pins[0],self.pins[1],self.pins[2],self.pins[3],self.currentStepDelay) #step forward
#print dt.datetime.now()
else:
self.step_coarse(self.pins[3],self.pins[2],self.pins[1],self.pins[0],self.currentStepDelay) #step forward
## if abs(local_stepper_value) != 100: # Only introduce delay if motor not full speed
## time.sleep(10*self.step_delay*((100/abs(local_stepper_value))-1))
self.pause_start_time = dt.datetime.now()
self.paused = False
#print PIN_NUM[self.pins[0]],self.pause_start_time
else:
if ((dt.datetime.now() - self.pause_start_time).seconds > 10) and (self.paused == False):
self.pause()
#print PIN_NUM[self.pins[0]], "paused inner"
#print PIN_NUM[self.pins[0]], self.paused
#else:
#if self.paused == False:
#print PIN_NUM[self.pins[0]], "inner" ,(dt.datetime.now() - self.pause_start_time).seconds
time.sleep(0.1) # sleep if stepper value is zero
else:
if ((dt.datetime.now() - self.pause_start_time).seconds > 10) and (self.paused == False):
self.pause()
#print PIN_NUM[self.pins[0]], "paused outer"
#print PIN_NUM[self.pins[0]], self.paused
#else:
#if self.paused == False:
#print PIN_NUM[self.pins[0]], "outer" ,(dt.datetime.now() - self.pause_start_time).seconds
time.sleep(0.1) # sleep if stepper value is zero
self.terminated = True
####### end of Stepper Class