///////////////////////////////////////////////////////////
// Stepper Motor skecth for use with the EasyDriver v4.2 //
///////////////////////////////////////////////////////////
// Dan Thompson 2010
//
// Use this code at your own risk.
//
// For all the product details visit http://greta.dhs.org/EasyDriver/
// For the full tutorial visit http://danthompsonsblog.blogspot.com/
////// ED_v4 Step Mode Chart //////
// //
// MS1 MS2 Resolution //
// L L Full step (2 phase) //
// H L Half step //
// L H Quarter step //
// H H Eighth step //
// //
////////////////////////////////////
int DIR = 3; // PIN 3 = DIR
int STEP = 2; // PIN 2 = STEP
int MS1 = 13; // PIN 13 = MS
int MS2 = 9; // PIN 9 = MS2
int SLEEP = 12; // PIN 12 = SLP
void setup() {
Serial.begin(9600); // open the serial connection at 9600bps
pinMode(DIR, OUTPUT); // set pin 3 to output
pinMode(STEP, OUTPUT); // set pin 2 to output
pinMode(MS1, OUTPUT); // set pin 13 to output
pinMode(MS2, OUTPUT); // set pin 9 to output
pinMode(SLEEP, OUTPUT); // set pin 12 to output
}
void loop()
{
int modeType = 1; // This number increases by multiple of 2 each through the while loop..
// ..to identify our step mode type.
while (modeType<=8){ // loops the following block of code 4 times before repeating .
digitalWrite(DIR, LOW); // Set the direction change LOW to HIGH to go in opposite direction
digitalWrite(MS1, MS1_MODE(modeType)); // Set state of MS1 based on the returned value from the MS1_MODE() switch statement.
digitalWrite(MS2, MS2_MODE(modeType)); // Set state of MS2 based on the returned value from the MS2_MODE() switch statement.
digitalWrite(SLEEP, HIGH); // Set the Sleep mode to AWAKE.
int i = 0; // Set the counter variable.
while(i<(modeType*200)) // Iterate for 200, then 400, then 800, then 1600 steps.
// Then reset to 200 and start again.
{
digitalWrite(STEP, LOW); // This LOW to HIGH change is what creates the..
digitalWrite(STEP, HIGH); // .."Rising Edge" so the easydriver knows to when to step.
delayMicroseconds(1600/modeType); // This delay time determines the speed of the stepper motor.
// Delay shortens from 1600 to 800 to 400 to 200 then resets
i++;
}
modeType = modeType * 2; // Multiply the current modeType value by 2 and make the result the new value for modeType.
// This will make the modeType variable count 1,2,4,8 each time we pass though the while loop.
delay(500);
}
digitalWrite(SLEEP, LOW); // switch off the power to stepper
Serial.print("SLEEPING..");
delay(1000);
Serial.print("z");
delay(1000);
Serial.print("z");
delay(1000);
Serial.print("z");
delay(1000);
Serial.println("");
digitalWrite(SLEEP, HIGH);
Serial.println("AWAKE!!!"); // Switch on the power to stepper
delay(1000);
}
int MS1_MODE(int MS1_StepMode){ // A function that returns a High or Low state number for MS1 pin
switch(MS1_StepMode){ // Switch statement for changing the MS1 pin state
// Different input states allowed are 1,2,4 or 8
case 1:
MS1_StepMode = 0;
Serial.println("Step Mode is Full...");
break;
case 2:
MS1_StepMode = 1;
Serial.println("Step Mode is Half...");
break;
case 4:
MS1_StepMode = 0;
Serial.println("Step Mode is Quarter...");
break;
case 8:
MS1_StepMode = 1;
Serial.println("Step Mode is Eighth...");
break;
}
return MS1_StepMode;
}
int MS2_MODE(int MS2_StepMode){ // A function that returns a High or Low state number for MS2 pin
switch(MS2_StepMode){ // Switch statement for changing the MS2 pin state
// Different input states allowed are 1,2,4 or 8
case 1:
MS2_StepMode = 0;
break;
case 2:
MS2_StepMode = 0;
break;
case 4:
MS2_StepMode = 1;
break;
case 8:
MS2_StepMode = 1;
break;
}
return MS2_StepMode;
}
test
test
///////////////////////////////////////////////////////////
// Stepper Motor skecth for use with the EasyDriver v4.2 //
///////////////////////////////////////////////////////////
// Dan Thompson 2010
//
// Use this code at your own risk.
//
// For all the product details visit http://greta.dhs.org/EasyDriver/
// For the full tutorial visit http://danthompsonsblog.blogspot.com/
////// ED_v4 Step Mode Chart //////
// //
// MS1 MS2 Resolution //
// L L Full step (2 phase) //
// H L Half step //
// L H Quarter step //
// H H Eighth step //
// //
////////////////////////////////////
int DIR = 3; // PIN 3 = DIR
int STEP = 2; // PIN 2 = STEP
int MS1 = 13; // PIN 13 = MS
int MS2 = 9; // PIN 9 = MS2
int SLEEP = 12; // PIN 12 = SLP
void setup() {
Serial.begin(9600); // open the serial connection at 9600bps
pinMode(DIR, OUTPUT); // set pin 3 to output
pinMode(STEP, OUTPUT); // set pin 2 to output
pinMode(MS1, OUTPUT); // set pin 13 to output
pinMode(MS2, OUTPUT); // set pin 9 to output
pinMode(SLEEP, OUTPUT); // set pin 12 to output
}
test
/////////////////////////////////////////////////////////// // Stepper Motor skecth for use with the EasyDriver v4.2 // /////////////////////////////////////////////////////////// // Dan Thompson 2010 // // Use this code at your own risk. // // For all the product details visit http://greta.dhs.org/EasyDriver/ // For the full tutorial visit http://danthompsonsblog.blogspot.com/ ////// ED_v4 Step Mode Chart ////// // // // MS1 MS2 Resolution // // L L Full step (2 phase) // // H L Half step // // L H Quarter step // // H H Eighth step // // // //////////////////////////////////// int DIR = 3; // PIN 3 = DIR int STEP = 2; // PIN 2 = STEP int MS1 = 13; // PIN 13 = MS int MS2 = 9; // PIN 9 = MS2 int SLEEP = 12; // PIN 12 = SLP void setup() { Serial.begin(9600); // open the serial connection at 9600bps pinMode(DIR, OUTPUT); // set pin 3 to output pinMode(STEP, OUTPUT); // set pin 2 to output pinMode(MS1, OUTPUT); // set pin 13 to output pinMode(MS2, OUTPUT); // set pin 9 to output pinMode(SLEEP, OUTPUT); // set pin 12 to output } void loop() { int modeType = 1; // This number increases by multiple of 2 each through the while loop.. // ..to identify our step mode type. while (modeType<=8){ // loops the following block of code 4 times before repeating . digitalWrite(DIR, LOW); // Set the direction change LOW to HIGH to go in opposite direction digitalWrite(MS1, MS1_MODE(modeType)); // Set state of MS1 based on the returned value from the MS1_MODE() switch statement. digitalWrite(MS2, MS2_MODE(modeType)); // Set state of MS2 based on the returned value from the MS2_MODE() switch statement. digitalWrite(SLEEP, HIGH); // Set the Sleep mode to AWAKE. int i = 0; // Set the counter variable. while(i<(modeType*200)) // Iterate for 200, then 400, then 800, then 1600 steps. // Then reset to 200 and start again. { digitalWrite(STEP, LOW); // This LOW to HIGH change is what creates the.. digitalWrite(STEP, HIGH); // .."Rising Edge" so the easydriver knows to when to step. delayMicroseconds(1600/modeType); // This delay time determines the speed of the stepper motor. // Delay shortens from 1600 to 800 to 400 to 200 then resets i++; } modeType = modeType * 2; // Multiply the current modeType value by 2 and make the result the new value for modeType. // This will make the modeType variable count 1,2,4,8 each time we pass though the while loop. delay(500); } digitalWrite(SLEEP, LOW); // switch off the power to stepper Serial.print("SLEEPING.."); delay(1000); Serial.print("z"); delay(1000); Serial.print("z"); delay(1000); Serial.print("z"); delay(1000); Serial.println(""); digitalWrite(SLEEP, HIGH); Serial.println("AWAKE!!!"); // Switch on the power to stepper delay(1000); } int MS1_MODE(int MS1_StepMode){ // A function that returns a High or Low state number for MS1 pin switch(MS1_StepMode){ // Switch statement for changing the MS1 pin state // Different input states allowed are 1,2,4 or 8 case 1: MS1_StepMode = 0; Serial.println("Step Mode is Full..."); break; case 2: MS1_StepMode = 1; Serial.println("Step Mode is Half..."); break; case 4: MS1_StepMode = 0; Serial.println("Step Mode is Quarter..."); break; case 8: MS1_StepMode = 1; Serial.println("Step Mode is Eighth..."); break; } return MS1_StepMode; } int MS2_MODE(int MS2_StepMode){ // A function that returns a High or Low state number for MS2 pin switch(MS2_StepMode){ // Switch statement for changing the MS2 pin state // Different input states allowed are 1,2,4 or 8 case 1: MS2_StepMode = 0; break; case 2: MS2_StepMode = 0; break; case 4: MS2_StepMode = 1; break; case 8: MS2_StepMode = 1; break; } return MS2_StepMode; }
################################################
# Module: motor.py
# Created: 21 April 2009
# Author: Daniel Thompson
# http://danthompsonsblog.blogspot.com/
# Version: 0.2
# License: GPLv3
# http://www.fsf.org/licensing/
'''Provides a serial connection abstraction layer
for use with Arduino "MultipleSteppers" sketch.
'''
#######################fhgjfhjfghjfghjgfhjfghjgfhjghjghjghj#########################
import motor
import serial
#setup the serial port
usbport = 'COM4'
ser = serial.Serial(usbport, 115200, timeout=1)
# convert a decimal (denary, base 10) integer to a binary string (base 2)
def d2b(n):
'''convert denary integer n to binary string bStr'''
bStr = ''
if n < 0: raise ValueError, "must be a positive integer"
if n == 0:
return '0'
while n > 0:
bStr = str(n % 2) + bStr
n = n >> 1
return bStr
'''Returns the number of bit bytes (eighths) in binary string.
Always rounds up, never rounds down.'''
def binaryCount(number):
sNumber = str(number)
length = len(sNumber)
numBytes = length / 8.0
numBytesInt = length / 8
if numBytes > numBytesInt:
return numBytesInt + 1
else:
return numBytesInt
'''This function gets the first byte, removes it from the string and
returns a new value'''
def shiftLeft(binary):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
nBinary = motor.d2b(newBinary)
print "I took away", firstByte
print "And now I'm left with", nBinary
return nBinary
# Wraps several functions to split
# the "steps" integer into bytes ready for sending
# Then it write packet header (255) and then
# all the other bytes
'''The final move command. I combines all the other functions in this
module to move the motor to the specified position'''
def position(num,degsPerStepFloat,stepsFloat):
steps = int(stepsFloat / degsPerStepFloat)
if(steps < 65535 and steps > -1):
binary = motor.d2b(steps)
numBytes = motor.binaryCount(binary)
# from the shiftLef def
ser.write(chr(255))
# note: the 2 in (0,2,1) is critical for alowing two bytes through every time.
for i in range(0,2,1):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
binary = motor.d2b(newBinary)
ser.write(chr(firstByte))
if(steps > -65535 and steps < 0):
stepsNeg = steps * -1
binary = motor.d2b(stepsNeg)
numBytes = motor.binaryCount(binary)
# from the shiftLef def
ser.write(chr(220))
# note: the 2 in (0,2,1) is critical for alowing two bytes through every time.
for i in range(0,2,1):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
binary = motor.d2b(newBinary)
ser.write(chr(firstByte))
return stepsFloat
################################################
# Module: motor.py
# Created: 21 April 2009
# Author: Daniel Thompson
# http://danthompsonsblog.blogspot.com/
# Version: 0.2
# License: GPLv3
# http://www.fsf.org/licensing/
'''Provides a serial connection abstraction layer
for use with Arduino "MultipleSteppers" sketch.
'''
################################################
import motor
import serial
#setup the serial port
usbport = 'COM4'
ser = serial.Serial(usbport, 115200, timeout=1)
# convert a decimal (denary, base 10) integer to a binary string (base 2)
def d2b(n):
'''convert denary integer n to binary string bStr'''
bStr = ''
if n < 0: raise ValueError, "must be a positive integer"
if n == 0:
return '0'
while n > 0:
bStr = str(n % 2) + bStr
n = n >> 1
return bStr
'''Returns the number of bit bytes (eighths) in binary string.
Always rounds up, never rounds down.'''
def binaryCount(number):
sNumber = str(number)
length = len(sNumber)
numBytes = length / 8.0
numBytesInt = length / 8
if numBytes > numBytesInt:
return numBytesInt + 1
else:
return numBytesInt
'''This function gets the first byte, removes it from the string and
returns a new value'''
def shiftLeft(binary):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
nBinary = motor.d2b(newBinary)
print "I took away", firstByte
print "And now I'm left with", nBinary
return nBinary
# Wraps several functions to split
# the "steps" integer into bytes ready for sending
# Then it write packet header (255) and then
# all the other bytes
'''The final move command. I combines all the other functions in this
module to move the motor to the specified position'''
def position(num,degsPerStepFloat,stepsFloat):
steps = int(stepsFloat / degsPerStepFloat)
if(steps < 65535 and steps > -1):
binary = motor.d2b(steps)
numBytes = motor.binaryCount(binary)
# from the shiftLef def
ser.write(chr(255))
# note: the 2 in (0,2,1) is critical for alowing two bytes through every time.
for i in range(0,2,1):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
binary = motor.d2b(newBinary)
ser.write(chr(firstByte))
if(steps > -65535 and steps < 0):
stepsNeg = steps * -1
binary = motor.d2b(stepsNeg)
numBytes = motor.binaryCount(binary)
# from the shiftLef def
ser.write(chr(220))
# note: the 2 in (0,2,1) is critical for alowing two bytes through every time.
for i in range(0,2,1):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
binary = motor.d2b(newBinary)
ser.write(chr(firstByte))
return stepsFloat
hooray!
################################################
# Module: motor.py
# Created: 21 April 2009
# Author: Daniel Thompson
# http://danthompsonsblog.blogspot.com/
# Version: 0.2
# License: GPLv3
# http://www.fsf.org/licensing/
'''Provides a serial connection abstraction layer
for use with Arduino "MultipleSteppers" sketch.
'''
################################################
import motor
import serial
#setup the serial port
usbport = 'COM4'
ser = serial.Serial(usbport, 115200, timeout=1)
# convert a decimal (denary, base 10) integer to a binary string (base 2)
def d2b(n):
'''convert denary integer n to binary string bStr'''
bStr = ''
if n < 0: raise ValueError, "must be a positive integer"
if n == 0:
return '0'
while n > 0:
bStr = str(n % 2) + bStr
n = n >> 1
return bStr
'''Returns the number of bit bytes (eighths) in binary string.
Always rounds up, never rounds down.'''
def binaryCount(number):
sNumber = str(number)
length = len(sNumber)
numBytes = length / 8.0
numBytesInt = length / 8
if numBytes > numBytesInt:
return numBytesInt + 1
else:
return numBytesInt
'''This function gets the first byte, removes it from the string and
returns a new value'''
def shiftLeft(binary):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
nBinary = motor.d2b(newBinary)
print "I took away", firstByte
print "And now I'm left with", nBinary
return nBinary
# Wraps several functions to split
# the "steps" integer into bytes ready for sending
# Then it write packet header (255) and then
# all the other bytes
'''The final move command. I combines all the other functions in this
module to move the motor to the specified position'''
def position(num,degsPerStepFloat,stepsFloat):
steps = int(stepsFloat / degsPerStepFloat)
if(steps < 65535 and steps > -1):
binary = motor.d2b(steps)
numBytes = motor.binaryCount(binary)
# from the shiftLef def
ser.write(chr(255))
# note: the 2 in (0,2,1) is critical for alowing two bytes through every time.
for i in range(0,2,1):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
binary = motor.d2b(newBinary)
ser.write(chr(firstByte))
if(steps > -65535 and steps < 0):
stepsNeg = steps * -1
binary = motor.d2b(stepsNeg)
numBytes = motor.binaryCount(binary)
# from the shiftLef def
ser.write(chr(220))
# note: the 2 in (0,2,1) is critical for alowing two bytes through every time.
for i in range(0,2,1):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
binary = motor.d2b(newBinary)
ser.write(chr(firstByte))
return stepsFloat
Arduino
################################################
# Module: motor.py
# Created: 21 April 2009
# Author: Daniel Thompson
# http://danthompsonsblog.blogspot.com/
# Version: 0.2
# License: GPLv3
# http://www.fsf.org/licensing/
'''Provides a serial connection abstraction layer
for use with Arduino "MultipleSteppers" sketch.
'''
################################################
import motor
import serial
#setup the serial port
usbport = 'COM4'
ser = serial.Serial(usbport, 115200, timeout=1)
# convert a decimal (denary, base 10) integer to a binary string (base 2)
def d2b(n):
'''convert denary integer n to binary string bStr'''
bStr = ''
if n < 0: raise ValueError, "must be a positive integer"
if n == 0:
return '0'
while n > 0:
bStr = str(n % 2) + bStr
n = n >> 1
return bStr
'''Returns the number of bit bytes (eighths) in binary string.
Always rounds up, never rounds down.'''
def binaryCount(number):
sNumber = str(number)
length = len(sNumber)
numBytes = length / 8.0
numBytesInt = length / 8
if numBytes > numBytesInt:
return numBytesInt + 1
else:
return numBytesInt
'''This function gets the first byte, removes it from the string and
returns a new value'''
def shiftLeft(binary):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
nBinary = motor.d2b(newBinary)
print "I took away", firstByte
print "And now I'm left with", nBinary
return nBinary
# Wraps several functions to split
# the "steps" integer into bytes ready for sending
# Then it write packet header (255) and then
# all the other bytes
'''The final move command. I combines all the other functions in this
module to move the motor to the specified position'''
def position(num,degsPerStepFloat,stepsFloat):
steps = int(stepsFloat / degsPerStepFloat)
if(steps < 65535 and steps > -1):
binary = motor.d2b(steps)
numBytes = motor.binaryCount(binary)
# from the shiftLef def
ser.write(chr(255))
# note: the 2 in (0,2,1) is critical for alowing two bytes through every time.
for i in range(0,2,1):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
binary = motor.d2b(newBinary)
ser.write(chr(firstByte))
if(steps > -65535 and steps < 0):
stepsNeg = steps * -1
binary = motor.d2b(stepsNeg)
numBytes = motor.binaryCount(binary)
# from the shiftLef def
ser.write(chr(220))
# note: the 2 in (0,2,1) is critical for alowing two bytes through every time.
for i in range(0,2,1):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
binary = motor.d2b(newBinary)
ser.write(chr(firstByte))
return stepsFloat
Arduino Code
################################################
# Module: motor.py
# Created: 21 April 2009
# Author: Daniel Thompson
# http://danthompsonsblog.blogspot.com/
# Version: 0.2
# License: GPLv3
# http://www.fsf.org/licensing/
'''Provides a serial connection abstraction layer
for use with Arduino "MultipleSteppers" sketch.
'''
################################################
import motor
import serial
#setup the serial port
usbport = 'COM4'
ser = serial.Serial(usbport, 115200, timeout=1)
# convert a decimal (denary, base 10) integer to a binary string (base 2)
def d2b(n):
'''convert denary integer n to binary string bStr'''
bStr = ''
if n < 0: raise ValueError, "must be a positive integer"
if n == 0:
return '0'
while n > 0:
bStr = str(n % 2) + bStr
n = n >> 1
return bStr
'''Returns the number of bit bytes (eighths) in binary string.
Always rounds up, never rounds down.'''
def binaryCount(number):
sNumber = str(number)
length = len(sNumber)
numBytes = length / 8.0
numBytesInt = length / 8
if numBytes > numBytesInt:
return numBytesInt + 1
else:
return numBytesInt
'''This function gets the first byte, removes it from the string and
returns a new value'''
def shiftLeft(binary):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
nBinary = motor.d2b(newBinary)
print "I took away", firstByte
print "And now I'm left with", nBinary
return nBinary
# Wraps several functions to split
# the "steps" integer into bytes ready for sending
# Then it write packet header (255) and then
# all the other bytes
'''The final move command. I combines all the other functions in this
module to move the motor to the specified position'''
def position(num,degsPerStepFloat,stepsFloat):
steps = int(stepsFloat / degsPerStepFloat)
if(steps < 65535 and steps > -1):
binary = motor.d2b(steps)
numBytes = motor.binaryCount(binary)
# from the shiftLef def
ser.write(chr(255))
# note: the 2 in (0,2,1) is critical for alowing two bytes through every time.
for i in range(0,2,1):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
binary = motor.d2b(newBinary)
ser.write(chr(firstByte))
if(steps > -65535 and steps < 0):
stepsNeg = steps * -1
binary = motor.d2b(stepsNeg)
numBytes = motor.binaryCount(binary)
# from the shiftLef def
ser.write(chr(220))
# note: the 2 in (0,2,1) is critical for alowing two bytes through every time.
for i in range(0,2,1):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
binary = motor.d2b(newBinary)
ser.write(chr(firstByte))
return stepsFloat
fixed??
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################################################
# Module: motor.py
# Created: 21 April 2009
# Author: Daniel Thompson
# http://danthompsonsblog.blogspot.com/
# Version: 0.2
# License: GPLv3
# http://www.fsf.org/licensing/
'''Provides a serial connection abstraction layer
for use with Arduino "MultipleSteppers" sketch.
'''
################################################
import motor
import serial
#setup the serial port
usbport = 'COM4'
ser = serial.Serial(usbport, 115200, timeout=1)
# convert a decimal (denary, base 10) integer to a binary string (base 2)
def d2b(n):
'''convert denary integer n to binary string bStr'''
bStr = ''
if n < 0: raise ValueError, "must be a positive integer"
if n == 0:
return '0'
while n > 0:
bStr = str(n % 2) + bStr
n = n >> 1
return bStr
'''Returns the number of bit bytes (eighths) in binary string.
Always rounds up, never rounds down.'''
def binaryCount(number):
sNumber = str(number)
length = len(sNumber)
numBytes = length / 8.0
numBytesInt = length / 8
if numBytes > numBytesInt:
return numBytesInt + 1
else:
return numBytesInt
'''This function gets the first byte, removes it from the string and
returns a new value'''
def shiftLeft(binary):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
nBinary = motor.d2b(newBinary)
print "I took away", firstByte
print "And now I'm left with", nBinary
return nBinary
# Wraps several functions to split
# the "steps" integer into bytes ready for sending
# Then it write packet header (255) and then
# all the other bytes
'''The final move command. I combines all the other functions in this
module to move the motor to the specified position'''
def position(num,degsPerStepFloat,stepsFloat):
steps = int(stepsFloat / degsPerStepFloat)
if(steps < 65535 and steps > -1):
binary = motor.d2b(steps)
numBytes = motor.binaryCount(binary)
# from the shiftLef def
ser.write(chr(255))
# note: the 2 in (0,2,1) is critical for alowing two bytes through every time.
for i in range(0,2,1):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
binary = motor.d2b(newBinary)
ser.write(chr(firstByte))
if(steps > -65535 and steps < 0):
stepsNeg = steps * -1
binary = motor.d2b(stepsNeg)
numBytes = motor.binaryCount(binary)
# from the shiftLef def
ser.write(chr(220))
# note: the 2 in (0,2,1) is critical for alowing two bytes through every time.
for i in range(0,2,1):
sBinary = str(binary)
firstByte = int(sBinary,2) & int('11111111',2)
newBinary = int(sBinary,2) >> 8
binary = motor.d2b(newBinary)
ser.write(chr(firstByte))
return stepsFloat
tester
#!/usr/bin/env python
import sys
import traceback
import utils
from bin.server import LearndServer
if __name__ == '__main__':
learnd = LearndServer( )
try:
learnd.run()
except KeyboardInterrupt:
utils.log("KeyboardInterrupt - Exiting.")
learnd.close()
except:
traceback.print_exc()
utils.log("Exiting.")
learnd.close()
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