moto klasse test

src/einstellungen.py

@@ -0,0 +1,46 @@
+import RPi.GPIO as GPIO
+
+GPIO.setmode(GPIO.BCM)
+GPIO.setwarnings(False)
+
+freq = 800
+freq_halten = 30000
+cyc_halten = 12
+
+pins_out = {
+    'kamera' : {'nr' : 2, 'name' : 'Relais, Kamera', 'state' : GPIO.HIGH},
+    'encoder' : {'nr' : 3, 'name' : 'Relais, Encoder', 'state' : GPIO.HIGH}
+}
+
+pins_in = {
+    'endschalter1' : {'nr' : 23, 'name' : 'Endschalter, Motor 1', 'state' : GPIO.HIGH},
+    'endschalter2' : {'nr' : 26, 'name' : 'Endschalter, Motor 2', 'state' : GPIO.HIGH},
+    'endschalter3' : {'nr' : 25, 'name' : 'Endschalter, Motor 3', 'state' : GPIO.HIGH}
+    }
+
+m1_a1 = 17
+m1_b1 = 18
+m1_a2 = 27
+m1_b2 = 22
+m1_t1 = 0.00005
+m1_t2 = 0.0004
+m1_te = 0.0003
+m1_es = 23
+
+m2_a1 = 19
+m2_b1 = 13
+m2_a2 = 6
+m2_b2 = 5
+m2_t1 = 0.0003
+m2_t2 = 0.001
+m2_te = 0.0005
+m2_es = 26
+
+m3_a1 = 16
+m3_b1 = 12
+m3_a2 = 21
+m3_b2 = 20
+m3_t1 = 0.0003
+m3_t2 = 0.001
+m3_te = 0.0006
+m3_es = 25

src/pins.py

@@ -1,32 +0,0 @@
-import RPi.GPIO as GPIO
-
-GPIO.setmode(GPIO.BCM)
-GPIO.setwarnings(False)
-
-freq = 800
-
-pins_out = {
-    'kamera' : {'nr' : 2, 'name' : 'Relais, Kamera', 'state' : GPIO.HIGH},
-    'encoder' : {'nr' : 3, 'name' : 'Relais, Encoder', 'state' : GPIO.HIGH}
-}
-
-pins_in = {
-    'endschalter1' : {'nr' : 23, 'name' : 'Endschalter, Motor 1', 'state' : GPIO.HIGH},
-    'endschalter2' : {'nr' : 26, 'name' : 'Endschalter, Motor 2', 'state' : GPIO.HIGH},
-    'endschalter3' : {'nr' : 25, 'name' : 'Endschalter, Motor 3', 'state' : GPIO.HIGH}
-    }
-
-pins_pwm = {
-    'm1_a1' : {'nr' : 17, 'typ' : GPIO.setup(17, GPIO.OUT), 'pwm' : GPIO.PWM(17, freq)},
-    'm1_b1' : {'nr' : 18, 'typ' : GPIO.setup(18, GPIO.OUT), 'pwm' : GPIO.PWM(18, freq)},
-    'm1_a2' : {'nr' : 27, 'typ' : GPIO.setup(27, GPIO.OUT), 'pwm' : GPIO.PWM(27, freq)},
-    'm1_b2' : {'nr' : 22, 'typ' : GPIO.setup(22, GPIO.OUT), 'pwm' : GPIO.PWM(22, freq)},
-    'm2_a1' : {'nr' : 19, 'typ' : GPIO.setup(19, GPIO.OUT), 'pwm' : GPIO.PWM(19, freq)},
-    'm2_b1' : {'nr' : 13, 'typ' : GPIO.setup(13, GPIO.OUT), 'pwm' : GPIO.PWM(13, freq)},
-    'm2_a2' : {'nr' : 6, 'typ' : GPIO.setup(6, GPIO.OUT), 'pwm' : GPIO.PWM(6, freq)},
-    'm2_b2' : {'nr' : 5, 'typ' : GPIO.setup(5, GPIO.OUT), 'pwm' : GPIO.PWM(5, freq)},
-    'm3_a1' : {'nr' : 16, 'typ' : GPIO.setup(16, GPIO.OUT), 'pwm' : GPIO.PWM(16, freq)},
-    'm3_b1' : {'nr' : 12, 'typ' : GPIO.setup(12, GPIO.OUT), 'pwm' : GPIO.PWM(12, freq)},
-    'm3_a2' : {'nr' : 21, 'typ' : GPIO.setup(21, GPIO.OUT), 'pwm' : GPIO.PWM(21, freq)},
-    'm3_b2' : {'nr' : 20, 'typ' : GPIO.setup(20, GPIO.OUT), 'pwm' : GPIO.PWM(20, freq)}
-    }

src/schrittmotor.py

@@ -1,3 +1,54 @@
+from src.einstellungen import *
 import RPi.GPIO as GPIO
 import time
+
+GPIO.setmode(GPIO.BCM)
+GPIO.setwarnings(False)
  
+class motor:
+
+    pos = 0
+    freq = freq
+    freq_halten = freq_halten
+    cyc_halten = cyc_halten
+    schritte_max = 0
+
+    def __init__(self, name, sp1, sp2, sp3, sp4, t1, t2, te, es, halten):
+        self.name = name
+        self.sp1 = sp1
+        self.sp2 = sp2
+        self.sp3 = sp3
+        self.sp4 = sp4
+        self.t1 = t1
+        self.t2 = t2
+        self.te = te
+        self.endschalter = es
+        self.halten = halten
+
+        GPIO.setup(sp1, GPIO.OUT)
+        GPIO.setup(sp2, GPIO.OUT)
+        GPIO.setup(sp3, GPIO.OUT)
+        GPIO.setup(sp4, GPIO.OUT)
+
+        self.pwm1 = GPIO.PWM(sp1, freq)
+        self.pwm1.start(0)
+        self.pwm1.ChangeDutyCycle(0)
+
+        self.pwm2 = GPIO.PWM(sp2, freq)
+        self.pwm2.start(0)
+        self.pwm2.ChangeDutyCycle(0)
+
+        self.pwm3 = GPIO.PWM(sp3, freq)
+        self.pwm3.start(0)
+        self.pwm3.ChangeDutyCycle(0)
+
+        if self.halten == 1:
+            self.pwm4 = GPIO.PWM(sp4, freq_halten)
+            self.pwm4.start(0)
+            self.pwm4.ChangeDutyCycle(cyc_halten)
+        else:
+            self.pwm4 = GPIO.PWM(sp4, freq)
+            self.pwm4.start(0)
+            self.pwm4.ChangeDutyCycle(0)
+
+