Module ReMake.Raspberry_Pi_Pico.Nema

Classes

class Nema (st, dr, ust=16)

This class is used to represent a NEMA stepper motor controlled by A4988 stepper driver or equivalent.

A NEMA stepper motor.

Args

st : int

STEP pin number

dr : int

DIR pin number

ust : int, optional

microstepping setting used. Defaults to 16.

Expand source code

class Nema:
    """This class is used to represent a NEMA stepper motor controlled by A4988 stepper driver or equivalent.
    """
    
    def __init__(self, st, dr, ust = 16):
        """A NEMA stepper motor.

        Args:
            st (int): STEP pin number
            dr (int): DIR pin number
            ust (int, optional): microstepping setting used. Defaults to 16.
        """

        self.step_pin = Pin(st, Pin.OUT)
        self.dir_pin = Pin(dr, Pin.OUT)
        self.ust = ust
        
        self.steps = 0
        self.direction = 0
        
        self.edge = 0
        self.dt = 0.01
        
    def setDt(self, newDt):
        """Set the time between two steps.

        Args:
            newDt (float): time between two steps
        """

        self.dt = newDt
    
    def hold(self):
        """Hold the current position.
        """

        self.step_pin.value(self.edge)
        self.dir_pin.value(self.direction)
    
    def go(self, angle, path = 0):
        """Rotates the motor to a specific angle.

        Args:
            angle (float): angle to rotate to
            path (int, optional): direction used to get to the angle. Defaults to 0.
        """

        cur_ang = self.steps/2 * 1.8  / self.ust
        dangle = angle - cur_ang
        steps = int( abs(dangle)*self.ust / 1.8 )
        self.direction = path
        if path == 0:
            if dangle > 0:
                self.dir_pin.value(self.direction)
                for i in range(0, 2*steps):
                    self.step()
                    sleep(self.dt)
                
            elif dangle < 0:
                self.dir_pin.value(self.direction)
                for i in range(0, 2*(200*self.ust - steps)):
                    self.step()
                    sleep(self.dt)
                    
        elif path == 1:
            if dangle < 0:
                self.dir_pin.value(self.direction)
                for i in range(0, 2*steps):
                    self.step()
                    sleep(self.dt)
                
            elif dangle > 0:
                self.dir_pin.value(self.direction)
                for i in range(0, 2*(200*self.ust - steps)):
                    self.step()
                    sleep(self.dt)
            
        
    def step(self):
        """Perform a single step.
        """

        if self.edge == 0:
            self.step_pin.value(1)
            self.edge = 1
        else:
            self.step_pin.value(0)
            self.edge = 0
        
        if self.direction == 0:
            self.steps = self.steps+1
        else:
            self.steps = self.steps-1
        
        
            
    def getSteps(self):
        """Get the current steps done.

        Returns:
            int: number of steps done
        """

        return self.steps
    
    def getAng(self):
        """Get the current angle of the motor.

        Returns:
            float: angle of the motor
        """

        return self.steps / 2 * 1.8  / self.ust

Methods

def getAng(self)

Get the current angle of the motor.

Returns

float

angle of the motor

Expand source code

def getAng(self):
    """Get the current angle of the motor.

    Returns:
        float: angle of the motor
    """

    return self.steps / 2 * 1.8  / self.ust

def getSteps(self)

Get the current steps done.

Returns

int

number of steps done

Expand source code

def getSteps(self):
    """Get the current steps done.

    Returns:
        int: number of steps done
    """

    return self.steps

def go(self, angle, path=0)

Rotates the motor to a specific angle.

Args

angle : float

angle to rotate to

path : int, optional

direction used to get to the angle. Defaults to 0.

Expand source code

def go(self, angle, path = 0):
    """Rotates the motor to a specific angle.

    Args:
        angle (float): angle to rotate to
        path (int, optional): direction used to get to the angle. Defaults to 0.
    """

    cur_ang = self.steps/2 * 1.8  / self.ust
    dangle = angle - cur_ang
    steps = int( abs(dangle)*self.ust / 1.8 )
    self.direction = path
    if path == 0:
        if dangle > 0:
            self.dir_pin.value(self.direction)
            for i in range(0, 2*steps):
                self.step()
                sleep(self.dt)
            
        elif dangle < 0:
            self.dir_pin.value(self.direction)
            for i in range(0, 2*(200*self.ust - steps)):
                self.step()
                sleep(self.dt)
                
    elif path == 1:
        if dangle < 0:
            self.dir_pin.value(self.direction)
            for i in range(0, 2*steps):
                self.step()
                sleep(self.dt)
            
        elif dangle > 0:
            self.dir_pin.value(self.direction)
            for i in range(0, 2*(200*self.ust - steps)):
                self.step()
                sleep(self.dt)

def hold(self)

Hold the current position.

Expand source code

def hold(self):
    """Hold the current position.
    """

    self.step_pin.value(self.edge)
    self.dir_pin.value(self.direction)

def setDt(self, newDt)

Set the time between two steps.

Args

newDt : float

time between two steps

Expand source code

def setDt(self, newDt):
    """Set the time between two steps.

    Args:
        newDt (float): time between two steps
    """

    self.dt = newDt

def step(self)

Perform a single step.

Expand source code

def step(self):
    """Perform a single step.
    """

    if self.edge == 0:
        self.step_pin.value(1)
        self.edge = 1
    else:
        self.step_pin.value(0)
        self.edge = 0
    
    if self.direction == 0:
        self.steps = self.steps+1
    else:
        self.steps = self.steps-1