ENERGIE/streaming-kamera
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sperren, wenn in Bewegung

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This commit is contained in:
Bernd Reuther
2021-03-05 21:58:43 +01:00
parent b636129243
commit 4ad7f8682b
1 changed files with 26 additions and 58 deletions
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76
src/schrittmotor.py
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@@ -1,5 +1,4 @@
from src.einstellungen import * from src.einstellungen import *
#import RPi.GPIO as GPIO
import time import time
import pigpio import pigpio
import threading import threading
@@ -7,9 +6,6 @@ import math
pi = pigpio.pi() pi = pigpio.pi()
#GPIO.setmode(GPIO.BCM)
#GPIO.setwarnings(False)
class motor(): class motor():
def __init__(self, name, sp1, sp2, sp3, sp4, t1, t2, te, es, halten, schritte): def __init__(self, name, sp1, sp2, sp3, sp4, t1, t2, te, es, halten, schritte):
@@ -28,20 +24,12 @@ class motor():
self.freq = freq self.freq = freq
self.freq_halten = freq_halten self.freq_halten = freq_halten
self.cyc_halten = cyc_halten self.cyc_halten = cyc_halten
self.pwm1 = 0 self.aktiv = 0
self.pwm2 = 0
self.pwm3 = 0
self.pwm4 = 0
def start(self):
pi.set_mode(self.sp1, pigpio.OUTPUT) pi.set_mode(self.sp1, pigpio.OUTPUT)
pi.set_mode(self.sp2, pigpio.OUTPUT) pi.set_mode(self.sp2, pigpio.OUTPUT)
pi.set_mode(self.sp3, pigpio.OUTPUT) pi.set_mode(self.sp3, pigpio.OUTPUT)
pi.set_mode(self.sp4, pigpio.OUTPUT) pi.set_mode(self.sp4, pigpio.OUTPUT)
#GPIO.setup(self.sp1, GPIO.OUT)
#GPIO.setup(self.sp2, GPIO.OUT)
#GPIO.setup(self.sp3, GPIO.OUT)
#GPIO.setup(self.sp4, GPIO.OUT)
pi.set_PWM_range(self.sp1, 100) pi.set_PWM_range(self.sp1, 100)
pi.set_PWM_range(self.sp2, 100) pi.set_PWM_range(self.sp2, 100)
@@ -51,33 +39,21 @@ class motor():
pi.set_PWM_frequency(self.sp1, self.freq) pi.set_PWM_frequency(self.sp1, self.freq)
pi.set_PWM_dutycycle(self.sp1, 0) pi.set_PWM_dutycycle(self.sp1, 0)
#self.pwm1 = GPIO.PWM(self.sp1, self.freq)
#self.pwm1.start(0)
pi.set_PWM_frequency(self.sp2, self.freq) pi.set_PWM_frequency(self.sp2, self.freq)
pi.set_PWM_dutycycle(self.sp2, 0) pi.set_PWM_dutycycle(self.sp2, 0)
#self.pwm2 = GPIO.PWM(self.sp2, self.freq)
#self.pwm2.start(0)
pi.set_PWM_frequency(self.sp3, self.freq) pi.set_PWM_frequency(self.sp3, self.freq)
pi.set_PWM_dutycycle(self.sp3, 0) pi.set_PWM_dutycycle(self.sp3, 0)
#self.pwm3 = GPIO.PWM(self.sp3, self.freq)
#self.pwm3.start(0)
if self.halten == 1: if self.halten == 1:
pi.set_PWM_frequency(self.sp4, self.freq_halten) pi.set_PWM_frequency(self.sp4, self.freq_halten)
pi.set_PWM_dutycycle(self.sp4, cyc_halten) pi.set_PWM_dutycycle(self.sp4, cyc_halten)
#self.pwm4 = GPIO.PWM(self.sp4, self.freq_halten)
#self.pwm4.start(cyc_halten)
else: else:
pi.set_PWM_frequency(self.sp4, self.freq) pi.set_PWM_frequency(self.sp4, self.freq)
pi.set_PWM_dutycycle(self.sp4, 0) pi.set_PWM_dutycycle(self.sp4, 0)
#self.pwm4 = GPIO.PWM(self.sp4, self.freq)
#self.pwm4.start(0)
def vorwaerts(self, schritte, eichen=0): def __vorwaerts(self, schritte, eichen=0):
self.aktiv = 1
ges_schritte = schritte * 8 ges_schritte = schritte * 8
if eichen == 1: if eichen == 1:
@@ -89,10 +65,10 @@ class motor():
if self.halten == 1: if self.halten == 1:
pi.set_PWM_frequency(self.sp4, self.freq) pi.set_PWM_frequency(self.sp4, self.freq)
#self.pwm4.ChangeFrequency(self.freq)
for i in range(int(schritte)): for i in range(int(schritte)):
if self.pos >= self.schritte_max: if self.pos >= self.schritte_max:
self.aktiv = 0
break break
else: else:
self.pos += 1 self.pos += 1
@@ -107,18 +83,16 @@ class motor():
einzelschritt(self.sp4, 1, ges_schritte, temp_pos + 6, temp_t1, temp_t2) einzelschritt(self.sp4, 1, ges_schritte, temp_pos + 6, temp_t1, temp_t2)
einzelschritt(self.sp3, 0, ges_schritte, temp_pos + 7, temp_t1, temp_t2) einzelschritt(self.sp3, 0, ges_schritte, temp_pos + 7, temp_t1, temp_t2)
#print(str(self.pos))
if self.halten == 1: if self.halten == 1:
pi.set_PWM_frequency(self.sp4, self.freq_halten) pi.set_PWM_frequency(self.sp4, self.freq_halten)
pi.set_PWM_dutycycle(self.sp4, cyc_halten) pi.set_PWM_dutycycle(self.sp4, cyc_halten)
#self.pwm4.ChangeFrequency(self.freq_halten)
#self.pwm4.ChangeDutyCycle(self.cyc_halten)
else: else:
pi.set_PWM_dutycycle(self.sp4, 0) pi.set_PWM_dutycycle(self.sp4, 0)
#self.pwm4.ChangeDutyCycle(0)
def rueckwaerts(self, schritte, eichen=0): self.aktiv = 0
def __rueckwaerts(self, schritte, eichen=0):
self.aktiv = 1
ges_schritte = schritte * 8 ges_schritte = schritte * 8
if eichen == 1: if eichen == 1:
@@ -130,13 +104,12 @@ class motor():
if self.halten == 1: if self.halten == 1:
pi.set_PWM_frequency(self.sp4, self.freq) pi.set_PWM_frequency(self.sp4, self.freq)
#self.pwm4.ChangeFrequency(self.freq)
for i in range(int(schritte)): for i in range(int(schritte)):
#if GPIO.input(self.endschalter) == GPIO.LOW:
if pi.read(self.endschalter) == 0: if pi.read(self.endschalter) == 0:
print('Endschalter ' + self.name) print('Endschalter ' + self.name)
self.pos = 0 self.pos = 0
self.aktiv = 0
break break
else: else:
self.pos -= 1 self.pos -= 1
@@ -151,33 +124,30 @@ class motor():
einzelschritt(self.sp4, 1, ges_schritte, temp_pos + 6, temp_t1, temp_t2) einzelschritt(self.sp4, 1, ges_schritte, temp_pos + 6, temp_t1, temp_t2)
einzelschritt(self.sp1, 0, ges_schritte, temp_pos + 7, temp_t1, temp_t2) einzelschritt(self.sp1, 0, ges_schritte, temp_pos + 7, temp_t1, temp_t2)
#print(str(self.pos))
if self.halten == 1: if self.halten == 1:
pi.set_PWM_frequency(self.sp4, self.freq_halten) pi.set_PWM_frequency(self.sp4, self.freq_halten)
pi.set_PWM_dutycycle(self.sp4, cyc_halten) pi.set_PWM_dutycycle(self.sp4, cyc_halten)
#self.pwm4.ChangeFrequency(self.freq_halten)
#self.pwm4.ChangeDutyCycle(self.cyc_halten)
else: else:
pi.set_PWM_dutycycle(self.sp4, 0) pi.set_PWM_dutycycle(self.sp4, 0)
#self.pwm4.ChangeDutyCycle(0)
self.aktiv = 0
def eichen(self): def eichen(self):
#if GPIO.input(self.endschalter) == GPIO.LOW: if self.aktiv == 0:
if pi.read(self.endschalter) == 0: if pi.read(self.endschalter) == 0:
self.vorwaerts(10, 1) self.vorwaerts(10, 1)
self.rueckwaerts(self.schritte_max, 1) self.rueckwaerts(self.schritte_max, 1)
self.pos = 0 self.pos = 0
def gehe_zu(self, position): def gehe_zu(self, position):
temp_schritte = int(position) - self.pos if self.aktiv == 0:
print(str(temp_schritte)) temp_schritte = int(position) - self.pos
if temp_schritte > 0: if temp_schritte > 0:
self.vorwaerts(temp_schritte) self.vorwaerts(temp_schritte)
else: else:
self.rueckwaerts(abs(temp_schritte)) self.rueckwaerts(abs(temp_schritte))
class motor_bewegen(threading.Thread): class motor_bewegen(threading.Thread):
def __init__(self, motor, position): def __init__(self, motor, position):
@@ -198,11 +168,9 @@ def einzelschritt(spule, status, ges_schritte, schritt, t1, t2):
for i in range(0, 91, 5): for i in range(0, 91, 5):
dc = round(math.sin(math.radians(i)) * 100, 0) dc = round(math.sin(math.radians(i)) * 100, 0)
pi.set_PWM_dutycycle(spule, dc) pi.set_PWM_dutycycle(spule, dc)
#spule.ChangeDutyCycle(dc)
time.sleep(t) time.sleep(t)
else: else:
for i in range(0, 91, 5): for i in range(0, 91, 5):
dc = round(math.cos(math.radians(i)) * 100, 0) dc = round(math.cos(math.radians(i)) * 100, 0)
pi.set_PWM_dutycycle(spule, dc) pi.set_PWM_dutycycle(spule, dc)
#spule.ChangeDutyCycle(dc)
time.sleep(t) time.sleep(t)