Python 3 úprava skriptu

[Wrána diskuze]

A tohle tomu zastavení vadit nebude?
https://diyprojects.io/drive-nema-17-stepper-motor-rpimotorlib-python-library-a4988/#.YE_HNP4o93M
Note on stopping stepper motor movements

The RpiMotorLib library does not offer any method to stop the movement in progress for stepper motors.

In an emergency or manually, the movements managed by the BYJMotor, A4988 and DRV8825 microcontrolle
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plha!!!!!!!!!!!!!! vo tom tady jako už nejmíň dobrou čtvrhodinku hovoříme

btw ta knihovnička je uplně jednoduchoučká prostě si to pustí for loop ve stejným vlákně ze kterýho to bylo zavolaný a pouští si to eletriku do těch svejch pinů/nožiček  neni problem to podědění overriding metody s loopem + přidání limit switch pinu 

Kód: [Vybrat]

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class A4988Nema(object):
    """ Class to control a Nema bi-polar stepper motor with a A4988 also tested with DRV8825"""
    def __init__(self, direction_pin, step_pin, mode_pins, motor_type="A4988"):
        """ class init method 3 inputs
        (1) direction type=int , help=GPIO pin connected to DIR pin of IC
        (2) step_pin type=int , help=GPIO pin connected to STEP of IC
        (3) mode_pins type=tuple of 3 ints, help=GPIO pins connected to
        Microstep Resolution pins MS1-MS3 of IC
        (4) motor_type type=string, help=TYpe of motor two options: A4988 or DRV8825
        """
        self.motor_type = motor_type
        self.direction_pin = direction_pin
        self.step_pin = step_pin
        self.mode_pins = mode_pins
        GPIO.setmode(GPIO.BCM)
        GPIO.setwarnings(False)

    def resolution_set(self, steptype):
        """ method to calculate step resolution
        based on motor type and steptype"""
        if self.motor_type == "A4988":
            resolution = {'Full': (0, 0, 0),
                          'Half': (1, 0, 0),
                          '1/4': (0, 1, 0),
                          '1/8': (1, 1, 0),
                          '1/16': (1, 1, 1)}
        elif self.motor_type == "DRV8825":
            resolution = {'Full': (0, 0, 0),
                          'Half': (1, 0, 0),
                          '1/4': (0, 1, 0),
                          '1/8': (1, 1, 0),
                          '1/16': (0, 0, 1),
                          '1/32': (1, 0, 1)}
        else:
            print("Error invalid motor_type: {}".format(self.motor_type))
            quit()
       
        # error check stepmode
        if steptype in resolution:
            pass
        else:
            print("Error invalid steptype: {}".format(steptype))
            quit()

        GPIO.output(self.mode_pins, resolution[steptype])

    def motor_go(self, clockwise=False, steptype="Full",
                 steps=200, stepdelay=.005, verbose=False, initdelay=.05):
        """ motor_go,  moves stepper motor based on 6 inputs
         (1) clockwise, type=bool default=False
         help="Turn stepper counterclockwise"
         (2) steptype, type=string , default=Full help= type of drive to
         step motor 5 options
            (Full, Half, 1/4, 1/8, 1/16)
         (3) steps, type=int, default=200, help=Number of steps sequence's
         to execute. Default is one revolution , 200 in Full mode.
         (4) stepdelay, type=float, default=0.05, help=Time to wait
         (in seconds) between steps.
         (5) verbose, type=bool  type=bool default=False
         help="Write pin actions",
         (6) initdelay, type=float, default=1mS, help= Intial delay after
         GPIO pins initialized but before motor is moved.
        """
        # setup GPIO
        GPIO.setup(self.direction_pin, GPIO.OUT)
        GPIO.setup(self.step_pin, GPIO.OUT)
        GPIO.output(self.direction_pin, clockwise)
        GPIO.setup(self.mode_pins, GPIO.OUT)
        try:
            # dict resolution
            self.resolution_set(steptype)

            time.sleep(initdelay)

            for i in range(steps):
                GPIO.output(self.step_pin, True)
                time.sleep(stepdelay)
                GPIO.output(self.step_pin, False)
                time.sleep(stepdelay)
                if verbose:
                    print("Steps count {}".format(i))

        except KeyboardInterrupt:
            print("User Keyboard Interrupt : RpiMotorLib:")
        except Exception as motor_error:
            print(sys.exc_info()[0])
            print(motor_error)
            print("RpiMotorLib  : Unexpected error:")
        else:
            # print report status
            if verbose:
                print("\nRpiMotorLib, Motor Run finished, Details:.\n")
                print("Motor type = {}".format(self.motor_type))
                print("Clockwise = {}".format(clockwise))
                print("Step Type = {}".format(steptype))
                print("Number of steps = {}".format(steps))
                print("Step Delay = {}".format(stepdelay))
                print("Intial delay = {}".format(initdelay))
                print("Size of turn in degrees = {}"
                      .format(degree_calc(steps, steptype)))
        finally:
            # cleanup
            GPIO.output(self.step_pin, False)
            GPIO.output(self.direction_pin, False)
            for pin in self.mode_pins:
                GPIO.output(pin, False)
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