AccelStepper

examples/servo.py

@@ -32,7 +32,7 @@
 
 # Create a Telemetrix instance.
 board = telemetrix.Telemetrix()
-board.set_pin_mode_servo(SERVO_PIN)
+board.set_pin_mode_servo(SERVO_PIN, 100, 3000)
 time.sleep(.2)
 board.servo_write(SERVO_PIN, 90)
 time.sleep(1)

examples/stepper_absolute.py

@@ -1,5 +1,5 @@
 """
- Copyright (c) 2021 Alan Yorinks All rights reserved.
+ Copyright (c) 2022 Alan Yorinks All rights reserved.
 
  This program is free software; you can redistribute it and/or
  modify it under the terms of the GNU AFFERO GENERAL PUBLIC LICENSE
@@ -15,7 +15,6 @@
  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 
 """
-
 import sys
 import time
 
@@ -24,15 +23,38 @@
 """
 Run a motor to an absolute position. Server will send a callback notification 
 when motion is complete.
+
+Motor used to test is a NEMA-17 size - 200 steps/rev, 12V 350mA.
+And the driver is a TB6600 4A 9-42V Nema 17 Stepper Motor Driver.
+
+The driver was connected as follows:
+VCC 12 VDC
+GND Power supply ground
+ENA- Not connected
+ENA+ Not connected
+DIR- GND
+DIR+ GPIO Pin 23 ESP32
+PUL- ESP32 GND
+PUL+ GPIO Pin 22 ESP32
+A-, A+ Coil 1 stepper motor
+B-, B+ Coil 2 stepper motor
+
 """
 
-# Create a Telemetrix instance.
-board = telemetrix.Telemetrix()
+# GPIO Pins
+PULSE_PIN = 8
+DIRECTION_PIN = 9
+
+# flag to keep track of the number of times the callback
+# was called. When == 2, exit program
+exit_flag = 0
 
 
 def the_callback(data):
+    global exit_flag
     date = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime(data[2]))
     print(f'Motor {data[1]} absolute motion completed at: {date}.')
+    exit_flag += 1
 
 
 def running_callback(data):
@@ -42,34 +64,70 @@ def running_callback(data):
         print('The motor IS NOT running.')
 
 
-# create an accelstepper instance for a TB6600 motor driver
-# motor = board.set_pin_mode_stepper(interface=1, pin1=7, pin2=8)
+def step_absolute(the_board):
 
-# if you are using a 28BYJ-48 Stepper Motor with ULN2003
-# comment out the line above and uncomment out the line below.
-motor = board.set_pin_mode_stepper(interface=8, pin1=8, pin2=10, pin3=9, pin4=11)
+    global exit_flag
+    # create an accelstepper instance for a TB6600 motor drive
+    # if you are using a micro stepper controller board:
+    # pin1 = pulse pin, pin2 = direction
+    motor = the_board.set_pin_mode_stepper(interface=2, pin1=PULSE_PIN,
+                                                 pin2=DIRECTION_PIN)
 
+    # if you are using a 28BYJ-48 Stepper Motor with ULN2003
+    # comment out the line above and uncomment out the line below.
+    # motor = the_board.set_pin_mode_stepper(interface=4, pin1=5, pin2=4, pin3=14,
+    # pin4=12)
 
-board.stepper_is_running(motor, callback=running_callback)
-time.sleep(.2)
-# set the max speed and acceleration
-board.stepper_set_max_speed(motor, 400)
-board.stepper_set_acceleration(motor, 800)
+    # the_board.stepper_is_running(motor, callback=running_callback)
+    time.sleep(.5)
 
-# set the absolute position in steps
-board.stepper_move_to(motor, 2000)
+    # set the max speed and acceleration
+    the_board.stepper_set_current_position(0, 0)
+    the_board.stepper_set_max_speed(motor, 400)
+    the_board.stepper_set_acceleration(motor, 800)
 
-# run the motor
-print('Starting motor...')
-board.stepper_run(motor, completion_callback=the_callback)
-time.sleep(.2)
-board.stepper_is_running(motor, callback=running_callback)
-time.sleep(.2)
+    # set the absolute position in steps
+    the_board.stepper_move_to(motor, 2000)
 
-# keep application running
-while True:
-    try:
+    # run the motor
+    print('Starting motor...')
+    the_board.stepper_run(motor, completion_callback=the_callback)
+    time.sleep(.2)
+    the_board.stepper_is_running(motor, callback=running_callback)
+    time.sleep(.2)
+    while exit_flag == 0:
         time.sleep(.2)
-    except KeyboardInterrupt:
-        board.shutdown()
-        sys.exit(0)
+
+    the_board.stepper_set_current_position(0, 0)
+    the_board.stepper_set_max_speed(motor, 400)
+    the_board.stepper_set_acceleration(motor, 800)
+    # set the absolute position in steps
+    print('Running motor in opposite direction')
+    the_board.stepper_move_to(motor, -2000)
+
+    the_board.stepper_run(motor, completion_callback=the_callback)
+    time.sleep(.2)
+    the_board.stepper_is_running(motor, callback=running_callback)
+    time.sleep(.2)
+
+    # keep application running
+    while exit_flag < 2:
+        try:
+            time.sleep(.2)
+        except KeyboardInterrupt:
+            the_board.shutdown()
+            sys.exit(0)
+    the_board.shutdown()
+    sys.exit(0)
+
+
+# instantiate telemetrix
+board = telemetrix.Telemetrix()
+try:
+    # start the main function
+    step_absolute(board)
+    board.shutdown()
+except KeyboardInterrupt:
+    board.shutdown()
+    sys.exit(0)
+

examples/stepper_relative.py

@@ -1,5 +1,5 @@
 """
- Copyright (c) 2021 Alan Yorinks All rights reserved.
+ Copyright (c) 2022 Alan Yorinks All rights reserved.
 
  This program is free software; you can redistribute it and/or
  modify it under the terms of the GNU AFFERO GENERAL PUBLIC LICENSE
@@ -15,47 +15,105 @@
  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 
 """
-
 import sys
 import time
 
 from telemetrix import telemetrix
 
 """
 Run a motor to a relative position.
+
+Motor used to test is a NEMA-17 size - 200 steps/rev, 12V 350mA.
+And the driver is a TB6600 4A 9-42V Nema 17 Stepper Motor Driver.
+
+The driver was connected as follows:
+VCC 12 VDC
+GND Power supply ground
+ENA- Not connected
+ENA+ Not connected
+DIR- ESP32 GND
+DIR+ GPIO Pin 23 ESP32
+PUL- ESP32 GND
+PUL+ GPIO Pin 22 ESP32
+A-, A+ Coil 1 stepper motor
+B-, B+ Coil 2 stepper motor
 """
 
-# Create a Telemetrix instance.
-board = telemetrix.Telemetrix()
+# GPIO Pins
+PULSE_PIN = 8
+DIRECTION_PIN = 9
+
+# flag to keep track of the number of times the callback
+# was called. When == 2, exit program
+exit_flag = 0
 
 
 def the_callback(data):
+    global exit_flag
+
     date = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime(data[2]))
     print(f'Motor {data[1]} relative  motion completed at: {date}.')
+    exit_flag += 1
+
+
+def step_relative(the_board):
+
+    global exit_flag
 
+    # create an accelstepper instance for a TB6600 motor driver
+    # if you are using a micro stepper controller board:
+    # pin1 = pulse pin, pin2 = direction
+    motor = the_board.set_pin_mode_stepper(interface=2, pin1=PULSE_PIN,
+                                                 pin2=DIRECTION_PIN)
 
-# create an accelstepper instance for a TB6600 motor driver
-# motor = board.set_pin_mode_stepper(interface=1, pin1=7, pin2=8)
+    # if you are using a 28BYJ-48 Stepper Motor with ULN2003
+    # comment out the line above and uncomment out the line below.
+    # motor = the_board.set_pin_mode_stepper(interface=4, pin1=5, pin2=4, pin3=14,
+    # pin4=12)
 
-# if you are using a 28BYJ-48 Stepper Motor with ULN2003
-# comment out the line above and uncomment out the line below.
-motor = board.set_pin_mode_stepper(interface=8, pin1=8, pin2=10, pin3=9, pin4=11)
+    # set the max speed and acceleration
+    the_board.stepper_set_max_speed(motor, 400)
+    the_board.stepper_set_acceleration(motor, 800)
 
+    # set the relative position in steps
+    the_board.stepper_move(motor, 2000)
 
-# set the max speed and acceleration
-board.stepper_set_max_speed(motor, 400)
-board.stepper_set_acceleration(motor, 800)
+    print('Running Motor')
+    # run the motor
+    the_board.stepper_run(motor, completion_callback=the_callback)
+
+    # keep application running
+    while exit_flag == 0:
+        try:
+            time.sleep(.2)
+        except KeyboardInterrupt:
+            board.shutdown()
+            sys.exit(0)
+
+    print('Reversing Direction')
+    the_board.stepper_move(motor, -2000)
+    the_board.stepper_run(motor, completion_callback=the_callback)
+
+    while exit_flag < 2:
+        try:
+            time.sleep(.2)
+        except KeyboardInterrupt:
+            board.shutdown()
+            sys.exit(0)
+
+    the_board.shutdown()
+    sys.exit(0)
+
+
+# instantiate telemetrix
+board = telemetrix.Telemetrix()
 
-# set the relative position in steps
-board.stepper_move(motor, 2000)
 
-# run the motor
-board.stepper_run(motor, completion_callback=the_callback)
+try:
+    # start the main function
+    step_relative(board)
+    board.shutdown()
+except KeyboardInterrupt:
+    board.shutdown()
+    sys.exit(0)
 
-# keep application running
-while True:
-    try:
-        time.sleep(.2)
-    except KeyboardInterrupt:
-        board.shutdown()
-        sys.exit(0)

examples/wifi/stepper_absolute_wifi.py

@@ -44,12 +44,13 @@ def running_callback(data):
 
 
 # create an accelstepper instance for a TB6600 motor driver
-# motor = board.set_pin_mode_stepper(interface=1, pin1=4, pin2=5)
+# motor = board.set_pin_mode_stepper(interface=2, pin1=4, pin2=5)
+motor = board.set_pin_mode_stepper(interface=2, pin1=5, pin2=4)
+
 
 # if you are using a 28BYJ-48 Stepper Motor with ULN2003
 # comment out the line above and uncomment out the line below.
 # motor = board.set_pin_mode_stepper(interface=4, pin1=5, pin2=4, pin3=14, pin4=12)
-motor = board.set_pin_mode_stepper(interface=1, pin1=5, pin2=4)
 
 
 board.stepper_is_running(motor, callback=running_callback)
@@ -59,7 +60,7 @@ def running_callback(data):
 board.stepper_set_acceleration(motor, 800)
 
 # set the absolute position in steps
-board.stepper_move_to(motor, 2000)
+board.stepper_move_to(motor, -2000)
 
 # run the motor
 print('Starting motor...')

examples/wifi/stepper_relative_wifi.py

@@ -27,6 +27,7 @@
 
 # Create a Telemetrix instance.
 board = telemetrix.Telemetrix(ip_address='192.168.2.112')
+time.sleep(.2)
 
 
 def the_callback(data):
@@ -35,7 +36,7 @@ def the_callback(data):
 
 
 # create an accelstepper instance for a TB6600 motor driver
-motor = board.set_pin_mode_stepper(interface=1, pin1=5, pin2=4)
+motor = board.set_pin_mode_stepper(interface=2, pin1=5, pin2=4)
 
 # if you are using a 28BYJ-48 Stepper Motor with ULN2003
 # comment out the line above and uncomment out the line below.
@@ -47,7 +48,7 @@ def the_callback(data):
 board.stepper_set_acceleration(motor, 800)
 
 # set the relative position in steps
-board.stepper_move(motor, 2000)
+board.stepper_move(motor, -2000)
 
 # run the motor
 board.stepper_run(motor, completion_callback=the_callback)

setup.py

@@ -11,7 +11,7 @@
     packages=['telemetrix'],
     install_requires=['pyserial'],
 
-    version='1.8',
+    version='1.9',
     description="Remotely Control And Monitor Arduino-Core devices",
     long_description=long_description,
     long_description_content_type='text/markdown',

telemetrix/private_constants.py

@@ -101,7 +101,7 @@ class PrivateConstants:
     FEATURES = 20
     DEBUG_PRINT = 99
 
-    TELEMETRIX_VERSION = "1.8"
+    TELEMETRIX_VERSION = "1.9"
 
     # reporting control
     REPORTING_DISABLE_ALL = 0