Created
March 20, 2014 11:31
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#!/usr/bin/env python | |
import RPi.GPIO as GPIO | |
import time | |
GPIO.setmode(GPIO.BCM) | |
coil_A_1_pin = 7 | |
coil_A_2_pin = 9 | |
coil_B_1_pin = 8 | |
coil_B_2_pin = 10 | |
GPIO.setup(coil_A_1_pin, GPIO.OUT) | |
GPIO.setup(coil_A_2_pin, GPIO.OUT) | |
GPIO.setup(coil_B_1_pin, GPIO.OUT) | |
GPIO.setup(coil_B_2_pin, GPIO.OUT) | |
def forward(delay, steps): | |
for i in range(0, steps): | |
setStep(1, 0, 1, 0) | |
time.sleep(delay) | |
setStep(0, 1, 1, 0) | |
time.sleep(delay) | |
setStep(0, 1, 0, 1) | |
time.sleep(delay) | |
setStep(1, 0, 0, 1) | |
time.sleep(delay) | |
def backwards(delay, steps): | |
for i in range(0, steps): | |
setStep(1, 0, 0, 1) | |
time.sleep(delay) | |
setStep(0, 1, 0, 1) | |
time.sleep(delay) | |
setStep(0, 1, 1, 0) | |
time.sleep(delay) | |
setStep(1, 0, 1, 0) | |
time.sleep(delay) | |
def setStep(w1, w2, w3, w4): | |
GPIO.output(coil_A_1_pin, w1) | |
GPIO.output(coil_A_2_pin, w2) | |
GPIO.output(coil_B_1_pin, w3) | |
GPIO.output(coil_B_2_pin, w4) | |
while True: | |
delay = raw_input("Delay between steps (milliseconds)?") | |
steps = raw_input("How many steps forward? ") | |
forward(int(delay) / 1000.0, int(steps)) | |
steps = raw_input("How many steps backwards? ") | |
backwards(int(delay) / 1000.0, int(steps)) | |
GPIO.output(coil_A_1_pin, 0) | |
GPIO.output(coil_A_2_pin, 0) | |
GPIO.output(coil_B_1_pin, 0) | |
GPIO.output(coil_B_2_pin, 0) |
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