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stepper.py
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stepper.py
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import time
import RPi.GPIO as GPIO
GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)
A = 7
B = 11
C = 13
D = 15
GPIO.setup(A, GPIO.OUT)
GPIO.setup(B, GPIO.OUT)
GPIO.setup(C, GPIO.OUT)
GPIO.setup(D, GPIO.OUT)
"""
1 2 3 4 5 6 7 8
Pin1 x x x
Pin2 x x x
Pin3 x x x
Pin4 x x x
"""
def GPIO_SETUP(a,b,c,d):
GPIO.output(A, a)
GPIO.output(B, b)
GPIO.output(C, c)
GPIO.output(D, d)
time.sleep(0.001)
def RIGHT_TURN(deg):
full_circle = 510.0
degree = full_circle/360*deg
GPIO_SETUP(0,0,0,0)
while degree > 0.0:
GPIO_SETUP(1,0,0,0)
GPIO_SETUP(1,1,0,0)
GPIO_SETUP(0,1,0,0)
GPIO_SETUP(0,1,1,0)
GPIO_SETUP(0,0,1,0)
GPIO_SETUP(0,0,1,1)
GPIO_SETUP(0,0,0,1)
GPIO_SETUP(1,0,0,1)
degree -= 1
def LEFT_TURN(deg):
full_circle = 510.0
degree = full_circle/360*deg
GPIO_SETUP(0,0,0,0)
while degree > 0.0:
GPIO_SETUP(1,0,0,1)
GPIO_SETUP(0,0,0,1)
GPIO_SETUP(0,0,1,1)
GPIO_SETUP(0,0,1,0)
GPIO_SETUP(0,1,1,0)
GPIO_SETUP(0,1,0,0)
GPIO_SETUP(1,1,0,0)
GPIO_SETUP(1,0,0,0)
degree -= 1
#MAIN #########################
RIGHT_TURN(90)
LEFT_TURN(90)
RIGHT_TURN(360)
GPIO_SETUP(0,0,0,0)