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Update PicoRobotics.py #19

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Update PicoRobotics.py #19

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46 changes: 44 additions & 2 deletions PicoRobotics.py
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Original file line number Diff line number Diff line change
Expand Up @@ -142,7 +142,7 @@ def motorOff(self,motor):
#so is 'backwards' - the fastest that works reliably with the motors I have to hand is 20mS, but slower than that is good. tested to 2000 (2 seconds per step).
# motor should be 1 or 2 - 1 is terminals for motor 1 and 2 on PCB, 2 is terminals for motor 3 and 4 on PCB

def step(self,motor, direction, steps, speed =20, holdPosition=False):
def step(self,motor, direction, steps, speed = 20, holdPosition=False):

if((motor<1) or (motor>2)):
raise Exception("INVALID MOTOR NUMBER") # harsh, but at least you'll know
Expand Down Expand Up @@ -170,6 +170,40 @@ def step(self,motor, direction, steps, speed =20, holdPosition=False):
if(holdPosition == False):
for coil in coils:
self.motorOff(coil)

#move two steppers at the same time.
#Use "f" and "r" to move them in the same direction, or "f/r" and "r/f" to move in oppposing directions
def bothStep(self, direction, steps, speed = 20, holdPosition=False):

if(direction =="f"):
directions = ["f", "r"]
coils = 1, 2, 3, 4
elif (direction == "r"):
directions = ["r", "f"]
coils = 4, 3, 2, 1
elif(direction =="f/r"):
directions = ["f", "r"]
coils = 2, 1, 3, 4
elif (direction == "r/f"):
directions = ["r", "f"]
coils = 1, 2, 4, 3
else:
raise Exception("INVALID DIRECTION") #harsh, but at least you'll know
while steps > 0:
for direction in directions:
if(steps == 0):
break
for coil in coils:
self.motorOn(coil,direction,100)
utime.sleep_ms(speed)
steps -=1
if(steps == 0):
break
#to save power turn off the coils once we have finished.
#this means the motor wont hold position.
if(holdPosition == False):
for coil in coils:
self.motorOff(coil)

#Step an angle. this is limited by the step resolution - so 200 steps is 1.8 degrees per step for instance.
# a request for 20 degrees with 200 steps/rev will result in 11 steps - or 19.8 rather than 20.
Expand All @@ -178,8 +212,16 @@ def stepAngle(self,motor, direction, angle, speed =20, holdPosition=False, steps
print (steps)
self.step(motor, direction, steps, speed, holdPosition)


#The same, but for both stepper motors
#Use "f" and "r" to move them in the same direction, or "f/r" and "r/f" to move in oppposing directions
def bothStepAngle(self, direction, angle, speed =20, holdPosition=False, stepsPerRev=200):
steps = int(angle/(360/stepsPerRev))
print (steps)
self.bothStep(direction, steps, speed, holdPosition)


# initialaisation code for using:
# initialisation code for using:
#defaults to the standard pins and address for the kitronik board, but could be overridden
def __init__(self, I2CAddress=108,sda=8,scl=9):
self.CHIP_ADDRESS = 108
Expand Down