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83e62aabba
The current grovemd driver supported 'mode2' stepping, where the driver simply passed various stepper commands to the board for it to carry out on it's own. This doesn't work very well (or at all if you have old/buggy firmware) so add a new 'mode1' stepper capability. This mode lets the driver manually control the stepping operation without requiring special firmware. This is now the default and recommended mode to use for stepper motors on this device. It is also more flexible in terms of the maximum number of steps you can do (mode2 was limited to 254 steps max). This was tested using a bipolar NEMA-17 stepper motor with an external 12v power supply. Note: 'Mode1' and 'Mode2' are the Seeed Studio terms for these different stepping modes. Signed-off-by: Jon Trulson <jtrulson@ics.com> Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
53 lines
1.9 KiB
Python
53 lines
1.9 KiB
Python
#!/usr/bin/python
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# Author: Jon Trulson <jtrulson@ics.com>
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# Copyright (c) 2015 Intel Corporation.
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#
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# Permission is hereby granted, free of charge, to any person obtaining
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# a copy of this software and associated documentation files (the
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# "Software"), to deal in the Software without restriction, including
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# without limitation the rights to use, copy, modify, merge, publish,
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# distribute, sublicense, and/or sell copies of the Software, and to
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# permit persons to whom the Software is furnished to do so, subject to
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# the following conditions:
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#
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# The above copyright notice and this permission notice shall be
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# included in all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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import time
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import pyupm_grovemd as upmGrovemd
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I2C_BUS = upmGrovemd.GROVEMD_I2C_BUS
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I2C_ADDR = upmGrovemd.GROVEMD_DEFAULT_I2C_ADDR
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# Instantiate an I2C Grove Motor Driver on I2C bus 0
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myMotorDriver = upmGrovemd.GroveMD(I2C_BUS, I2C_ADDR)
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# This example demonstrates using the GroveMD to drive a stepper motor
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# configure it, for this example, we'll assume 200 steps per rev
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myMotorDriver.configStepper(200)
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# set for half a rotation
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myMotorDriver.setStepperSteps(100)
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# let it go - clockwise rotation, 10 RPM speed
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myMotorDriver.enableStepper(upmGrovemd.GroveMD.STEP_DIR_CW, 10)
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time.sleep(3)
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# Now do it backwards...
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myMotorDriver.setStepperSteps(100)
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myMotorDriver.enableStepper(upmGrovemd.GroveMD.STEP_DIR_CCW, 10)
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# now disable
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myMotorDriver.disableStepper()
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