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37
kamera.md
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37
kamera.md
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# Kamera Sony alfa 5000
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wlan-SSID: ```DIRECT-kxE0:ILCE-5000```
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Passwort: variabel
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Wahrscheinlich wird das Passwort nach eineiger Zeit ohne Strom zufällig neu gesetzt.
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Die sicherste Methode ist daher, nach dem Einschalten der Kamera ein Bild vom HDMI-Stream zu machen und den QR-Code auszulesen.
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## Bild aufnehmen
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Mit ffmpeg:
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```
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ffmpeg -i rtmp://192.168.1.168/live/0 -vframes 1 -f image2 -y img.jpg
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```
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## QR-Code auslesen
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Mit zbar-tools:
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```
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sudo apt-get install zbar-tools
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zbarimg img.jpg
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```
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Ausgabe:
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```
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QR-Code:W01:S:kxE0;P:nEfVEq6X;C:ILCE-5000;M:B272BF3F42B1;
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scanned 1 barcode symbols from 1 images in 0.1 seconds
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```
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Daraus ergibt sich der SSID-Name: `DIRECT-kxE0:ILCE-5000`
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und das Passwort: `nEfVEq6X`
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395
kamera.py
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395
kamera.py
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import sys, getopt
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import RPi.GPIO as GPIO
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import time
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import threading
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import math
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t1_m1 = 0.00005
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t2_m1 = 0.0004
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te_m1 = 0.0003
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t1_m2 = 0.0003
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t2_m2 = 0.001
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te_m2 = 0.0005
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t1_m3 = 0.0003
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t2_m3 = 0.001
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te_m3 = 0.0006
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delay = 0.004
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delay_y = 0.012
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delay_z = 0.004
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freq = 800
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freq_halten = 30000
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cyc = 12
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pos_m1 = 0
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pos_m2 = 0
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pos_m3 = 0
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ausgleich_m3 = 1
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schritte_m1 = 180
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schritte_m2 = 90
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schritte_m3 = 40
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#schritte = int(sys.argv[1])
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#zoom = int(sys.argv[2])
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#print('Schritte: ', schritte)
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#print('Zoom: ', zoom)
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GPIO.setmode(GPIO.BCM)
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GPIO.setwarnings(False)
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m1_coil_A_1_pin = 17 # gelb
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m1_coil_B_1_pin = 18 # schwarz
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m1_coil_A_2_pin = 27 # orange
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m1_coil_B_2_pin = 22 # braun
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m2_coil_A_1_pin = 19 # schwarz
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m2_coil_B_1_pin = 13 # gelb
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m2_coil_A_2_pin = 6 # orange
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m2_coil_B_2_pin = 5 # rot
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m3_coil_A_1_pin = 16 # schwarz
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m3_coil_B_1_pin = 12 # gelb
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m3_coil_A_2_pin = 21 # braun
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m3_coil_B_2_pin = 20 # orange
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RELAIS_1_GPIO = 2
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RELAIS_2_GPIO = 3
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Endschalter_1 = 23
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Endschalter_2 = 26
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Endschalter_3 = 25
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# anpassen, falls andere Sequenz
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#StepCount = 8
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#Seq = list(range(0, StepCount))
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#Seq[0] = [1,0,0,0]
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#Seq[1] = [1,1,0,0]
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#Seq[2] = [0,1,0,0]
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#Seq[3] = [0,1,1,0]
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#Seq[4] = [0,0,1,0]
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#Seq[5] = [0,0,1,1]
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#Seq[6] = [0,0,0,1]
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#Seq[7] = [1,0,0,1]
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StepCount = 4
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Seq = list(range(0, StepCount))
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Seq[0] = [1,0,0,0]
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Seq[1] = [0,1,0,0]
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Seq[2] = [0,0,1,0]
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Seq[3] = [0,0,0,1]
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#GPIO.setup(enable_pin, GPIO.OUT)
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GPIO.setup(m1_coil_A_1_pin, GPIO.OUT)
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GPIO.setup(m1_coil_A_2_pin, GPIO.OUT)
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GPIO.setup(m1_coil_B_1_pin, GPIO.OUT)
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GPIO.setup(m1_coil_B_2_pin, GPIO.OUT)
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GPIO.setup(m2_coil_A_1_pin, GPIO.OUT)
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GPIO.setup(m2_coil_A_2_pin, GPIO.OUT)
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GPIO.setup(m2_coil_B_1_pin, GPIO.OUT)
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GPIO.setup(m2_coil_B_2_pin, GPIO.OUT)
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GPIO.setup(m3_coil_A_1_pin, GPIO.OUT)
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GPIO.setup(m3_coil_A_2_pin, GPIO.OUT)
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GPIO.setup(m3_coil_B_1_pin, GPIO.OUT)
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GPIO.setup(m3_coil_B_2_pin, GPIO.OUT)
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GPIO.setup(Endschalter_1, GPIO.IN)
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GPIO.setup(Endschalter_2, GPIO.IN)
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GPIO.setup(Endschalter_3, GPIO.IN)
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# pwm Setup fuer Haltestrom
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pwm1_m1 = GPIO.PWM(m1_coil_A_1_pin, freq)
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pwm2_m1 = GPIO.PWM(m1_coil_B_1_pin, freq)
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pwm3_m1 = GPIO.PWM(m1_coil_A_2_pin, freq)
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pwm4_m1 = GPIO.PWM(m1_coil_B_2_pin, freq)
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pwm1_m2 = GPIO.PWM(m2_coil_A_1_pin, freq)
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pwm2_m2 = GPIO.PWM(m2_coil_B_1_pin, freq)
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pwm3_m2 = GPIO.PWM(m2_coil_A_2_pin, freq)
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pwm4_m2 = GPIO.PWM(m2_coil_B_2_pin, freq)
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pwm1_m3 = GPIO.PWM(m3_coil_A_1_pin, freq)
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pwm2_m3 = GPIO.PWM(m3_coil_B_1_pin, freq)
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pwm3_m3 = GPIO.PWM(m3_coil_A_2_pin, freq)
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pwm4_m3 = GPIO.PWM(m3_coil_B_2_pin, freq)
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pwm1_m1.start(0)
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pwm1_m1.ChangeFrequency(freq)
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pwm1_m1.ChangeDutyCycle(0)
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pwm2_m1.start(0)
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pwm2_m1.ChangeFrequency(freq)
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pwm2_m1.ChangeDutyCycle(0)
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pwm3_m1.start(0)
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pwm3_m1.ChangeFrequency(freq)
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pwm3_m1.ChangeDutyCycle(0)
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pwm4_m1.start(0)
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pwm4_m1.ChangeFrequency(freq_halten)
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pwm4_m1.ChangeDutyCycle(cyc)
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pwm1_m2.start(0)
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pwm1_m2.ChangeFrequency(freq)
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pwm1_m2.ChangeDutyCycle(0)
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pwm2_m2.start(0)
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pwm2_m2.ChangeFrequency(freq)
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pwm2_m2.ChangeDutyCycle(0)
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pwm3_m2.start(0)
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pwm3_m2.ChangeFrequency(freq)
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pwm3_m2.ChangeDutyCycle(0)
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pwm4_m2.start(0)
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pwm4_m2.ChangeFrequency(freq_halten)
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pwm4_m2.ChangeDutyCycle(cyc)
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pwm1_m3.start(0)
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pwm1_m3.ChangeFrequency(freq)
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pwm1_m3.ChangeDutyCycle(0)
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pwm2_m3.start(0)
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pwm2_m3.ChangeFrequency(freq)
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pwm2_m3.ChangeDutyCycle(0)
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pwm3_m3.start(0)
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pwm3_m3.ChangeFrequency(freq)
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pwm3_m3.ChangeDutyCycle(0)
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pwm4_m3.start(0)
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pwm4_m3.ChangeFrequency(freq)
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pwm4_m3.ChangeDutyCycle(0)
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GPIO.setup(RELAIS_1_GPIO, GPIO.OUT) # GPIO Modus zuweisen
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GPIO.setup(RELAIS_2_GPIO, GPIO.OUT) # GPIO Modus zuweisen
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GPIO.output(RELAIS_1_GPIO, GPIO.LOW) # an
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GPIO.output(RELAIS_2_GPIO, GPIO.HIGH) # aus
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time.sleep(3)
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GPIO.output(RELAIS_2_GPIO, GPIO.LOW) # an
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def schritt(spule, status, ges_schritte, schritt, t1, t2):
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w = (schritt * 100 / (ges_schritte - 1)) * 1.8
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s = round(math.sin(math.radians(w)), 2)
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t = t2 - (s * (t2 - t1))
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#print(str(t))
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if status == 1:
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for i in range(0, 91, 5):
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dc = round(math.sin(math.radians(i)) * 100, 0)
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spule.ChangeDutyCycle(dc)
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time.sleep(t)
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else:
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for i in range(0, 91, 5):
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dc = round(math.cos(math.radians(i)) * 100, 0)
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spule.ChangeDutyCycle(dc)
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time.sleep(t)
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def vorwaerts(motor, sp1, sp2, sp3, sp4, schritte, t1, t2, halten):
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global pos_m1, pos_m2, pos_m3
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ges_schritte = schritte * 8
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if halten == 1:
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sp4.ChangeFrequency(freq)
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for i in range(int(schritte)):
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if motor == 'm1':
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if pos_m1 >= schritte_m1:
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print('Motor1 hat positives Ende erreicht')
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break
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else:
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pos_m1 = pos_m1 + 1
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if motor == 'm2':
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if pos_m2 >= schritte_m2:
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print('Motor2 hat positives Ende erreicht')
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break
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else:
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pos_m2 = pos_m2 + 1
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#print('Motor2-Pos: ' + str(pos_m2))
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if motor == 'm3':
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if pos_m3 >= schritte_m3:
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print('Motor3 hat positives Ende erreicht')
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break
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else:
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pos_m3 = pos_m3 + 1
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pos = i * 8
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schritt(sp1, 1, ges_schritte, pos, t1, t2)
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schritt(sp4, 0, ges_schritte, pos + 1, t1, t2)
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schritt(sp2, 1, ges_schritte, pos + 2, t1, t2)
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schritt(sp1, 0, ges_schritte, pos + 3, t1, t2)
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schritt(sp3, 1, ges_schritte, pos + 4, t1, t2)
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schritt(sp2, 0, ges_schritte, pos + 5, t1, t2)
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schritt(sp4, 1, ges_schritte, pos + 6, t1, t2)
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schritt(sp3, 0, ges_schritte, pos + 7, t1, t2)
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if halten == 1:
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sp4.ChangeFrequency(freq_halten)
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sp4.ChangeDutyCycle(cyc)
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else:
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sp4.ChangeDutyCycle(0)
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def rueckwaerts(motor, sp1, sp2, sp3, sp4, schritte, t1, t2, halten):
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global pos_m1, pos_m2, pos_m3
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ges_schritte = schritte * 8
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if halten == 1:
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sp4.ChangeFrequency(freq)
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for i in range(int(schritte)):
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if motor == 'm1':
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if GPIO.input(Endschalter_1) == GPIO.LOW:
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print("Motor1 Endschalter")
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pos_m1 = 0
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break
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else:
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pos_m1 = pos_m1 - 1
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if motor == 'm2':
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if GPIO.input(Endschalter_2) == GPIO.LOW:
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print("Motor2 Endschalter")
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pos_m2 = 0
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break
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else:
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pos_m2 = pos_m2 - 1
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if motor == 'm3':
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if GPIO.input(Endschalter_3) == GPIO.LOW:
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print("Motor3 Endschalter")
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pos_m3 = 0
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break
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else:
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pos_m3 = pos_m3 - 1
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pos = i * 8
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schritt(sp3, 1, ges_schritte, pos, t1, t2)
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schritt(sp4, 0, ges_schritte, pos + 1, t1, t2)
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schritt(sp2, 1, ges_schritte, pos + 2, t1, t2)
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schritt(sp3, 0, ges_schritte, pos + 3, t1, t2)
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schritt(sp1, 1, ges_schritte, pos + 4, t1, t2)
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schritt(sp2, 0, ges_schritte, pos + 5, t1, t2)
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schritt(sp4, 1, ges_schritte, pos + 6, t1, t2)
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schritt(sp1, 0, ges_schritte, pos + 7, t1, t2)
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if halten == 1:
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sp4.ChangeFrequency(freq_halten)
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sp4.ChangeDutyCycle(cyc)
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else:
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sp4.ChangeDutyCycle(0)
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def initMotor(motor):
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global pos_m1, pos_m2, pos_m3
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if motor == 'm1':
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print('Motor1 eichen')
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if GPIO.input(Endschalter_1) == GPIO.LOW:
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vorwaerts('m1', pwm1_m1, pwm2_m1, pwm3_m1, pwm4_m1, 10, te_m1, te_m1, 1)
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rueckwaerts('m1', pwm1_m1, pwm2_m1, pwm3_m1, pwm4_m1, schritte_m1, te_m1, te_m1, 1)
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pos_m1 = 0
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if motor == 'm2':
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print('Motor2 eichen')
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if GPIO.input(Endschalter_2) == GPIO.LOW:
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vorwaerts('m2', pwm1_m2, pwm2_m2, pwm3_m2, pwm4_m2, 10, te_m2, te_m2, 1)
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rueckwaerts('m2', pwm1_m2, pwm2_m2, pwm3_m2, pwm4_m2, schritte_m2, te_m2, te_m2, 1)
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pos_m2 = 0
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if motor == 'm3':
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print('Motor3 eichen')
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if GPIO.input(Endschalter_3) == GPIO.LOW:
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vorwaerts('m3', pwm1_m3, pwm2_m3, pwm3_m3, pwm4_m3, 10, te_m3, te_m3, 0)
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rueckwaerts('m3', pwm1_m3, pwm2_m3, pwm3_m3, pwm4_m3, schritte_m3, te_m3, te_m3, 0)
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pos_m3 = 0
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class MoveV(threading.Thread):
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def __init__(self, motor, sp1, sp2, sp3, sp4, schritte, delay1, delay2, halten):
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threading.Thread.__init__(self)
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self.motor = motor
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self.sp1 = sp1
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self.sp2 = sp2
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self.sp3 = sp3
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self.sp4 = sp4
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self.schritte = schritte
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self.delay1 = delay1
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self.delay2 = delay2
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self.halten = halten
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self.daemon = True
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self.start()
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def run(self):
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vorwaerts(self.motor, self.sp1, self.sp2, self.sp3, self.sp4, self.schritte, self.delay1, self.delay2, self.halten)
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class MoveR(threading.Thread):
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def __init__(self, motor, sp1, sp2, sp3, sp4, schritte, delay1, delay2, halten):
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threading.Thread.__init__(self)
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self.motor = motor
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self.sp1 = sp1
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self.sp2 = sp2
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self.sp3 = sp3
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self.sp4 = sp4
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self.schritte = schritte
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self.delay1 = delay1
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self.delay2 = delay2
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self.halten = halten
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self.daemon = True
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self.start()
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def run(self):
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rueckwaerts(self.motor, self.sp1, self.sp2, self.sp3, self.sp4, abs(self.schritte), self.delay1, self.delay2, self.halten)
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#initMotor('m1')
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print('start')
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initMotor('m1')
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initMotor('m2')
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initMotor('m3')
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try:
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while True:
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drehen = raw_input("Drehen: ")
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hoehe = raw_input("Hoehe: ")
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zoom = raw_input("Zoom: ")
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#speed = raw_input("Speed: ")
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#f = raw_input("Frequenz: ")
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#c = raw_input("Zykluslaenge: ")
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#delay = int(speed)
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#freq = int(f)
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#cyc = int(c)
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steps_m1 = int(drehen) - pos_m1
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#print('Drehen: ' + str(steps_m1))
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steps_m2 = int(hoehe) - pos_m2
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#print('Hoehe: ' + str(steps_m2))
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steps_m3 = int(zoom) - pos_m3
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#print('Zoom: ' + str(steps_m3))
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if int(steps_m1) > 0:
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t1 = MoveV('m1', pwm1_m1, pwm2_m1, pwm3_m1, pwm4_m1, int(steps_m1), t1_m1, t2_m1, 1)
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else:
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t1 = MoveR('m1', pwm1_m1, pwm2_m1, pwm3_m1, pwm4_m1, int(steps_m1), t1_m1, t2_m1, 1)
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if int(steps_m2) > 0:
|
||||
t2 = MoveV('m2', pwm1_m2, pwm2_m2, pwm3_m2, pwm4_m2, int(steps_m2), t1_m2, t2_m2, 1)
|
||||
else:
|
||||
t2 = MoveR('m2', pwm1_m2, pwm2_m2, pwm3_m2, pwm4_m2, int(steps_m2), t1_m2, t2_m2, 1)
|
||||
|
||||
if int(steps_m3) > 0:
|
||||
t3 = MoveV('m3', pwm1_m3, pwm2_m3, pwm3_m3, pwm4_m3, int(steps_m3), t1_m3, t2_m3, 0)
|
||||
else:
|
||||
t3 = MoveR('m3', pwm1_m3, pwm2_m3, pwm3_m3, pwm4_m3, int(steps_m3), t1_m3, t2_m3, 0)
|
||||
|
||||
t1.join()
|
||||
t2.join()
|
||||
t3.join()
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("Ctl C pressed - ending program")
|
||||
|
||||
#pwm.stop()
|
||||
GPIO.cleanup()
|
||||
|
||||
|
||||
#fertig
|
||||
|
||||
#if __name__ == '__main__':
|
||||
# while True:
|
||||
# test = raw_input('Test')
|
||||
356
kamera2.py
Normal file
356
kamera2.py
Normal file
@ -0,0 +1,356 @@
|
||||
import sys, getopt
|
||||
import RPi.GPIO as GPIO
|
||||
import time
|
||||
import threading
|
||||
|
||||
delay = 0.004
|
||||
delay_y = 0.012
|
||||
delay_z = 0.004
|
||||
freq = 50000
|
||||
cyc = 4
|
||||
pos_m1 = 0
|
||||
pos_m2 = 0
|
||||
pos_m3 = 0
|
||||
ausgleich_m3 = 1
|
||||
|
||||
schritte_m1 = 180
|
||||
schritte_m2 = 120
|
||||
schritte_m3 = 40
|
||||
#schritte = int(sys.argv[1])
|
||||
#zoom = int(sys.argv[2])
|
||||
#print('Schritte: ', schritte)
|
||||
#print('Zoom: ', zoom)
|
||||
|
||||
GPIO.setmode(GPIO.BCM)
|
||||
GPIO.setwarnings(False)
|
||||
|
||||
m1_coil_A_1_pin = 17 # gelb
|
||||
m1_coil_B_1_pin = 18 # schwarz
|
||||
m1_coil_A_2_pin = 27 # orange
|
||||
m1_coil_B_2_pin = 22 # braun
|
||||
|
||||
m2_coil_A_1_pin = 19 # schwarz
|
||||
m2_coil_B_1_pin = 13 # gelb
|
||||
m2_coil_A_2_pin = 6 # orange
|
||||
m2_coil_B_2_pin = 5 # rot
|
||||
|
||||
m3_coil_A_1_pin = 16 # schwarz
|
||||
m3_coil_B_1_pin = 12 # gelb
|
||||
m3_coil_A_2_pin = 21 # braun
|
||||
m3_coil_B_2_pin = 20 # orange
|
||||
|
||||
RELAIS_1_GPIO = 2
|
||||
RELAIS_2_GPIO = 3
|
||||
|
||||
Endschalter_1 = 23
|
||||
Endschalter_2 = 26
|
||||
Endschalter_3 = 25
|
||||
|
||||
# anpassen, falls andere Sequenz
|
||||
#StepCount = 8
|
||||
#Seq = list(range(0, StepCount))
|
||||
#Seq[0] = [1,0,0,0]
|
||||
#Seq[1] = [1,1,0,0]
|
||||
#Seq[2] = [0,1,0,0]
|
||||
#Seq[3] = [0,1,1,0]
|
||||
#Seq[4] = [0,0,1,0]
|
||||
#Seq[5] = [0,0,1,1]
|
||||
#Seq[6] = [0,0,0,1]
|
||||
#Seq[7] = [1,0,0,1]
|
||||
|
||||
StepCount = 4
|
||||
Seq = list(range(0, StepCount))
|
||||
Seq[0] = [1,0,0,0]
|
||||
Seq[1] = [0,1,0,0]
|
||||
Seq[2] = [0,0,1,0]
|
||||
Seq[3] = [0,0,0,1]
|
||||
|
||||
#GPIO.setup(enable_pin, GPIO.OUT)
|
||||
GPIO.setup(m1_coil_A_1_pin, GPIO.OUT)
|
||||
GPIO.setup(m1_coil_A_2_pin, GPIO.OUT)
|
||||
GPIO.setup(m1_coil_B_1_pin, GPIO.OUT)
|
||||
GPIO.setup(m1_coil_B_2_pin, GPIO.OUT)
|
||||
|
||||
GPIO.setup(m2_coil_A_1_pin, GPIO.OUT)
|
||||
GPIO.setup(m2_coil_A_2_pin, GPIO.OUT)
|
||||
GPIO.setup(m2_coil_B_1_pin, GPIO.OUT)
|
||||
GPIO.setup(m2_coil_B_2_pin, GPIO.OUT)
|
||||
|
||||
GPIO.setup(m3_coil_A_1_pin, GPIO.OUT)
|
||||
GPIO.setup(m3_coil_A_2_pin, GPIO.OUT)
|
||||
GPIO.setup(m3_coil_B_1_pin, GPIO.OUT)
|
||||
GPIO.setup(m3_coil_B_2_pin, GPIO.OUT)
|
||||
|
||||
GPIO.setup(Endschalter_1, GPIO.IN)
|
||||
GPIO.setup(Endschalter_2, GPIO.IN)
|
||||
GPIO.setup(Endschalter_3, GPIO.IN)
|
||||
|
||||
# pwm Setup fuer Haltestrom
|
||||
pwm1a = GPIO.PWM(m1_coil_A_1_pin, freq)
|
||||
pwm2a = GPIO.PWM(m2_coil_A_1_pin, freq)
|
||||
pwm2b = GPIO.PWM(m2_coil_B_1_pin, freq)
|
||||
#pwm1.start(0) # Initialisierung
|
||||
#pwm2.start(0) # Initialisierung
|
||||
|
||||
|
||||
GPIO.setup(RELAIS_1_GPIO, GPIO.OUT) # GPIO Modus zuweisen
|
||||
GPIO.setup(RELAIS_2_GPIO, GPIO.OUT) # GPIO Modus zuweisen
|
||||
|
||||
GPIO.output(RELAIS_1_GPIO, GPIO.LOW) # an
|
||||
GPIO.output(RELAIS_2_GPIO, GPIO.HIGH) # aus
|
||||
time.sleep(3)
|
||||
GPIO.output(RELAIS_2_GPIO, GPIO.LOW) # an
|
||||
|
||||
def setStep(motor, w1, w2, w3, w4):
|
||||
if motor == 'm1':
|
||||
GPIO.output(m1_coil_A_1_pin, w1)
|
||||
GPIO.output(m1_coil_B_1_pin, w2)
|
||||
GPIO.output(m1_coil_A_2_pin, w3)
|
||||
GPIO.output(m1_coil_B_2_pin, w4)
|
||||
if motor == 'm2':
|
||||
GPIO.output(m2_coil_A_1_pin, w1)
|
||||
GPIO.output(m2_coil_B_1_pin, w2)
|
||||
GPIO.output(m2_coil_A_2_pin, w3)
|
||||
GPIO.output(m2_coil_B_2_pin, w4)
|
||||
|
||||
if motor == 'm3':
|
||||
GPIO.output(m3_coil_A_1_pin, w1)
|
||||
GPIO.output(m3_coil_B_1_pin, w2)
|
||||
GPIO.output(m3_coil_A_2_pin, w3)
|
||||
GPIO.output(m3_coil_B_2_pin, w4)
|
||||
|
||||
|
||||
def forward(motor, delay, steps):
|
||||
global pos_m1, pos_m2, pos_m3
|
||||
global schritte_m1, schritte_m2, schritte_m3
|
||||
#d = int(delay) / 1000.0
|
||||
d = delay
|
||||
s = int(steps)
|
||||
for i in range(s):
|
||||
if motor == 'm1':
|
||||
if pos_m1 >= schritte_m1:
|
||||
print('Motor1 hat positives Ende erreicht')
|
||||
break
|
||||
else:
|
||||
pos_m1 = pos_m1 + 1
|
||||
#print('Motor1-Pos: ' + str(pos_m1))
|
||||
|
||||
if motor == 'm2':
|
||||
if pos_m2 >= schritte_m2:
|
||||
print('Motor2 hat positives Ende erreicht')
|
||||
break
|
||||
else:
|
||||
pos_m2 = pos_m2 + 1
|
||||
#print('Motor2-Pos: ' + str(pos_m2))
|
||||
|
||||
if motor == 'm3':
|
||||
if pos_m3 >= schritte_m3:
|
||||
print('Motor3 hat positives Ende erreicht')
|
||||
break
|
||||
else:
|
||||
pos_m3 = pos_m3 + 1
|
||||
#print('Motor3-Pos: ' + str(pos_m3))
|
||||
|
||||
#time.sleep(0.01)
|
||||
|
||||
for j in range(StepCount):
|
||||
setStep(motor, Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(d)
|
||||
|
||||
if motor == 'm3':
|
||||
for i in range(int(ausgleich_m3)):
|
||||
for j in range(StepCount):
|
||||
setStep(motor, Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(d)
|
||||
|
||||
|
||||
def backwards(motor, delay, steps):
|
||||
global pos_m1, pos_m2, pos_m3
|
||||
global schritte_m1, schritte_m2, schritte_m3
|
||||
#d = int(delay) / 1000.0
|
||||
d = delay
|
||||
s = int(steps)
|
||||
for i in range(s):
|
||||
if motor == 'm1':
|
||||
if GPIO.input(Endschalter_1) == GPIO.LOW:
|
||||
print("Motor1 Endschalter")
|
||||
pos_m1 = 0
|
||||
break
|
||||
else:
|
||||
pos_m1 = pos_m1 - 1
|
||||
#print('Motor1-Pos: ' + str(pos_m1))
|
||||
|
||||
if motor == 'm2':
|
||||
if GPIO.input(Endschalter_2) == GPIO.LOW:
|
||||
print("Motor2 Endschalter")
|
||||
pos_m2 = 0
|
||||
break
|
||||
else:
|
||||
pos_m2 = pos_m2 - 1
|
||||
#print('Motor2-Pos: ' + str(pos_m2))
|
||||
|
||||
if motor == 'm3':
|
||||
if GPIO.input(Endschalter_3) == GPIO.LOW:
|
||||
print("Motor3 Endschalter")
|
||||
pos_m3 = 0
|
||||
break
|
||||
else:
|
||||
pos_m3 = pos_m3 - 1
|
||||
#print('Motor3-Pos: ' + str(pos_m3))
|
||||
|
||||
for j in reversed(range(StepCount)):
|
||||
setStep(motor, Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(d)
|
||||
|
||||
if motor == 'm3':
|
||||
for i in range(int(ausgleich_m3)):
|
||||
for j in reversed(range(StepCount)):
|
||||
setStep(motor, Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(d)
|
||||
|
||||
def stopMotor(motor, stop):
|
||||
if motor == 'm1':
|
||||
if stop == 0:
|
||||
pwm1a.stop()
|
||||
else:
|
||||
pwm1a.start(0)
|
||||
pwm1a.ChangeFrequency(freq)
|
||||
pwm1a.ChangeDutyCycle(cyc)
|
||||
|
||||
|
||||
if motor == 'm2':
|
||||
if stop == 0:
|
||||
pwm2a.stop()
|
||||
#pwm2b.stop()
|
||||
else:
|
||||
pwm2a.start(0)
|
||||
pwm2a.ChangeFrequency(freq)
|
||||
pwm2a.ChangeDutyCycle(cyc)
|
||||
#pwm2b.start(0)
|
||||
#pwm2b.ChangeFrequency(freq)
|
||||
#pwm2b.ChangeDutyCycle(cyc)
|
||||
|
||||
def initMotor(motor):
|
||||
global pos_m1, pos_m2, pos_m3
|
||||
|
||||
if motor == 'm1':
|
||||
print('Motor1 eichen')
|
||||
if GPIO.input(Endschalter_1) == GPIO.LOW:
|
||||
forward('m1', delay, 10)
|
||||
|
||||
backwards('m1', delay, schritte_m1)
|
||||
stopMotor('m1', 1)
|
||||
pos_m1 = 0
|
||||
|
||||
if motor == 'm2':
|
||||
print('Motor2 eichen')
|
||||
if GPIO.input(Endschalter_2) == GPIO.LOW:
|
||||
forward('m2', delay_y, 10)
|
||||
|
||||
backwards('m2', delay_y, schritte_m2)
|
||||
stopMotor('m2', 1)
|
||||
pos_m2 = 0
|
||||
|
||||
if motor == 'm3':
|
||||
print('Motor3 eichen')
|
||||
if GPIO.input(Endschalter_3) == GPIO.LOW:
|
||||
forward('m3', delay_z, 10)
|
||||
|
||||
backwards('m3', delay_z, schritte_m3)
|
||||
pos_m3 = 0
|
||||
|
||||
class MoveV(threading.Thread):
|
||||
def __init__(self, motor, schritte, delay, halten):
|
||||
threading.Thread.__init__(self)
|
||||
self.motor = motor
|
||||
self.schritte = schritte
|
||||
self.delay = delay
|
||||
self.halten = halten
|
||||
self.daemon = True
|
||||
self.start()
|
||||
|
||||
def run(self):
|
||||
stopMotor(self.motor, 0)
|
||||
forward(self.motor, self.delay, self.schritte)
|
||||
setStep(self.motor, 0,0,0,0)
|
||||
|
||||
if self.halten == 1:
|
||||
stopMotor(self.motor, 1)
|
||||
|
||||
class MoveR(threading.Thread):
|
||||
def __init__(self, motor, schritte, delay, halten):
|
||||
threading.Thread.__init__(self)
|
||||
self.motor = motor
|
||||
self.schritte = schritte
|
||||
self.delay = delay
|
||||
self.halten = halten
|
||||
self.daemon = True
|
||||
self.start()
|
||||
|
||||
def run(self):
|
||||
stopMotor(self.motor, 0)
|
||||
backwards(self.motor, self.delay, abs(self.schritte))
|
||||
setStep(self.motor, 0,0,0,0)
|
||||
|
||||
if self.halten == 1:
|
||||
stopMotor(self.motor, 1)
|
||||
|
||||
#initMotor('m1')
|
||||
print('start')
|
||||
initMotor('m1')
|
||||
initMotor('m2')
|
||||
initMotor('m3')
|
||||
|
||||
try:
|
||||
while True:
|
||||
drehen = raw_input("Drehen: ")
|
||||
hoehe = raw_input("Hoehe: ")
|
||||
zoom = raw_input("Zoom: ")
|
||||
#speed = raw_input("Speed: ")
|
||||
#f = raw_input("Frequenz: ")
|
||||
#c = raw_input("Zykluslaenge: ")
|
||||
|
||||
#delay = int(speed)
|
||||
#freq = int(f)
|
||||
#cyc = int(c)
|
||||
|
||||
steps_m1 = int(drehen) - pos_m1
|
||||
#print('Drehen: ' + str(steps_m1))
|
||||
|
||||
steps_m2 = int(hoehe) - pos_m2
|
||||
#print('Hoehe: ' + str(steps_m2))
|
||||
|
||||
steps_m3 = int(zoom) - pos_m3
|
||||
#print('Zoom: ' + str(steps_m3))
|
||||
|
||||
if int(steps_m1) > 0:
|
||||
t1 = MoveV('m1', int(steps_m1), delay, 1)
|
||||
else:
|
||||
t1 = MoveR('m1', int(steps_m1), delay, 1)
|
||||
|
||||
if int(steps_m2) > 0:
|
||||
t2 = MoveV('m2', int(steps_m2), delay_y, 1)
|
||||
else:
|
||||
t2 = MoveR('m2', int(steps_m2), delay_y, 1)
|
||||
|
||||
if int(steps_m3) > 0:
|
||||
t3 = MoveV('m3', int(steps_m3), delay_z, 0)
|
||||
else:
|
||||
t3 = MoveR('m3', int(steps_m3), delay_z, 0)
|
||||
|
||||
t1.join()
|
||||
t2.join()
|
||||
t3.join()
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("Ctl C pressed - ending program")
|
||||
|
||||
#pwm.stop()
|
||||
GPIO.cleanup()
|
||||
|
||||
|
||||
#fertig
|
||||
|
||||
#if __name__ == '__main__':
|
||||
# while True:
|
||||
# test = raw_input('Test')
|
||||
56
m1.py
Normal file
56
m1.py
Normal file
@ -0,0 +1,56 @@
|
||||
import sys, getopt
|
||||
import RPi.GPIO as GPIO
|
||||
import time
|
||||
|
||||
delay = 3
|
||||
steps = int(sys.argv[1])
|
||||
print('Schritte: ', steps)
|
||||
|
||||
GPIO.setmode(GPIO.BCM)
|
||||
GPIO.setwarnings(False)
|
||||
coil_A_1_pin = 12 # gelb
|
||||
coil_B_1_pin = 16 # schwarz
|
||||
coil_A_2_pin = 20 # orange
|
||||
coil_B_2_pin = 21 # braun
|
||||
|
||||
# anpassen, falls andere Sequenz
|
||||
StepCount = 4
|
||||
Seq = list(range(0, StepCount))
|
||||
Seq[0] = [1,0,0,0]
|
||||
Seq[1] = [0,1,0,0]
|
||||
Seq[2] = [0,0,1,0]
|
||||
Seq[3] = [0,0,0,1]
|
||||
|
||||
#GPIO.setup(enable_pin, GPIO.OUT)
|
||||
GPIO.setup(coil_A_1_pin, GPIO.OUT)
|
||||
GPIO.setup(coil_A_2_pin, GPIO.OUT)
|
||||
GPIO.setup(coil_B_1_pin, GPIO.OUT)
|
||||
GPIO.setup(coil_B_2_pin, GPIO.OUT)
|
||||
|
||||
#GPIO.output(enable_pin, 1)
|
||||
|
||||
def setStep(w1, w2, w3, w4):
|
||||
GPIO.output(coil_A_1_pin, w1)
|
||||
GPIO.output(coil_A_2_pin, w2)
|
||||
GPIO.output(coil_B_1_pin, w3)
|
||||
GPIO.output(coil_B_2_pin, w4)
|
||||
|
||||
def forward(delay, steps):
|
||||
for i in range(steps):
|
||||
for j in range(StepCount):
|
||||
setStep(Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(delay)
|
||||
|
||||
def backwards(delay, steps):
|
||||
for i in range(steps):
|
||||
for j in reversed(range(StepCount)):
|
||||
setStep(Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(delay)
|
||||
|
||||
if steps >0:
|
||||
forward(int(delay) / 1000.0, int(steps))
|
||||
|
||||
if steps <0:
|
||||
backwards(int(delay) / 1000.0, abs(steps))
|
||||
|
||||
setStep(0,0,0,0)
|
||||
61
m2.py
Normal file
61
m2.py
Normal file
@ -0,0 +1,61 @@
|
||||
import sys, getopt
|
||||
import RPi.GPIO as GPIO
|
||||
import time
|
||||
|
||||
delay = 3
|
||||
steps = int(sys.argv[1])
|
||||
print('Schritte: ', steps)
|
||||
|
||||
GPIO.setmode(GPIO.BCM)
|
||||
GPIO.setwarnings(False)
|
||||
coil_A_1_pin = 5 # pink
|
||||
coil_A_2_pin = 13 # orange
|
||||
coil_B_1_pin = 6 # blau
|
||||
coil_B_2_pin = 19 # gelb
|
||||
#enable_pin = 7 # Nur bei bestimmten Motoren benoetigt (+Zeile 24 und 30)
|
||||
|
||||
# anpassen, falls andere Sequenz
|
||||
StepCount = 8
|
||||
Seq = list(range(0, StepCount))
|
||||
Seq[0] = [1,0,0,0]
|
||||
Seq[1] = [1,0,1,0]
|
||||
Seq[2] = [0,0,1,0]
|
||||
Seq[3] = [0,1,1,0]
|
||||
Seq[4] = [0,1,0,0]
|
||||
Seq[5] = [0,1,0,1]
|
||||
Seq[6] = [0,0,0,1]
|
||||
Seq[7] = [1,0,0,1]
|
||||
|
||||
#GPIO.setup(enable_pin, GPIO.OUT)
|
||||
GPIO.setup(coil_A_1_pin, GPIO.OUT)
|
||||
GPIO.setup(coil_A_2_pin, GPIO.OUT)
|
||||
GPIO.setup(coil_B_1_pin, GPIO.OUT)
|
||||
GPIO.setup(coil_B_2_pin, GPIO.OUT)
|
||||
|
||||
#GPIO.output(enable_pin, 1)
|
||||
|
||||
def setStep(w1, w2, w3, w4):
|
||||
GPIO.output(coil_A_1_pin, w1)
|
||||
GPIO.output(coil_A_2_pin, w2)
|
||||
GPIO.output(coil_B_1_pin, w3)
|
||||
GPIO.output(coil_B_2_pin, w4)
|
||||
|
||||
def forward(delay, steps):
|
||||
for i in range(steps):
|
||||
for j in range(StepCount):
|
||||
setStep(Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(delay)
|
||||
|
||||
def backwards(delay, steps):
|
||||
for i in range(steps):
|
||||
for j in reversed(range(StepCount)):
|
||||
setStep(Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(delay)
|
||||
|
||||
if steps >0:
|
||||
forward(int(delay) / 1000.0, int(steps))
|
||||
|
||||
if steps <0:
|
||||
backwards(int(delay) / 1000.0, abs(steps))
|
||||
|
||||
setStep(0,0,0,0)
|
||||
45
motor2.py
Normal file
45
motor2.py
Normal file
@ -0,0 +1,45 @@
|
||||
#!/usr/bin/env python
|
||||
# coding: utf8
|
||||
# -*- coding: utf-8 -*-
|
||||
from time import sleep
|
||||
import sys
|
||||
import time
|
||||
import RPi.GPIO as GPIO
|
||||
|
||||
GPIO.setmode(GPIO.BCM)
|
||||
|
||||
#Pins am Rapberry Pi
|
||||
A=4
|
||||
B=17
|
||||
C=23
|
||||
D=24
|
||||
|
||||
steps=int(sys.argv[1])
|
||||
time = 0.001
|
||||
|
||||
# Pins sind Ausgänge
|
||||
|
||||
GPIO.setup(A,GPIO.OUT)
|
||||
GPIO.setup(B,GPIO.OUT)
|
||||
GPIO.setup(C,GPIO.OUT)
|
||||
GPIO.setup(D,GPIO.OUT)
|
||||
GPIO.output(A, False)
|
||||
GPIO.output(B, False)
|
||||
GPIO.output(C, False)
|
||||
GPIO.output(D, False)
|
||||
|
||||
# Schritte 1 bis 8 definieren
|
||||
|
||||
def Step1(): GPIO.output(D, True) sleep (time) GPIO.output(D, False)
|
||||
def Step2(): GPIO.output(D, True) GPIO.output(C, True) sleep (time) GPIO.output(D, False) GPIO.output(C, False)
|
||||
def Step3(): GPIO.output(C, True) sleep (time) GPIO.output(C, False)
|
||||
def Step4(): GPIO.output(B, True) GPIO.output(C, True) sleep (time) GPIO.output(B, False) GPIO.output(C, False)
|
||||
def Step5(): GPIO.output(B, True) sleep (time) GPIO.output(B, False)
|
||||
def Step6(): GPIO.output(A, True) GPIO.output(B, True) sleep (time) GPIO.output(A, False) GPIO.output(B, False)
|
||||
def Step7(): GPIO.output(A, True) sleep (time) GPIO.output(A, False)
|
||||
def Step8(): GPIO.output(D, True) GPIO.output(A, True) sleep (time) GPIO.output(D, False) GPIO.output(A, False)
|
||||
|
||||
# Volle Umdrehung
|
||||
|
||||
for i in range (steps): Step8() Step7() Step6() Step5() Step4() Step3() Step2() Step1() print i if steps < 0: steps = 0-steps
|
||||
for i in range (steps): Step1() Step2() Step3() Step4() Step5() Step6() Step7() Step8() print i GPIO.cleanup()
|
||||
107
motor3.py
Normal file
107
motor3.py
Normal file
@ -0,0 +1,107 @@
|
||||
#!/usr/bin/env python
|
||||
# coding: utf8
|
||||
# -*- coding: utf-8 -*-
|
||||
from time import sleep
|
||||
import sys
|
||||
import time
|
||||
import RPi.GPIO as GPIO
|
||||
|
||||
GPIO.setmode(GPIO.BCM)
|
||||
|
||||
#Pins am Rapberry Pi
|
||||
A=4
|
||||
B=17
|
||||
C=23
|
||||
D=24
|
||||
|
||||
steps=int(sys.argv[1])
|
||||
time = 0.001
|
||||
|
||||
# Pins sind Ausgänge
|
||||
|
||||
GPIO.setup(A,GPIO.OUT)
|
||||
GPIO.setup(B,GPIO.OUT)
|
||||
GPIO.setup(C,GPIO.OUT)
|
||||
GPIO.setup(D,GPIO.OUT)
|
||||
GPIO.output(A, False)
|
||||
GPIO.output(B, False)
|
||||
GPIO.output(C, False)
|
||||
GPIO.output(D, False)
|
||||
|
||||
# Schritte 1 bis 8 definieren
|
||||
|
||||
def Step1():
|
||||
GPIO.output(D, True)
|
||||
sleep (time)
|
||||
GPIO.output(D, False)
|
||||
|
||||
def Step2():
|
||||
GPIO.output(D, True)
|
||||
GPIO.output(C, True)
|
||||
sleep (time)
|
||||
GPIO.output(D, False)
|
||||
GPIO.output(C, False)
|
||||
|
||||
def Step3():
|
||||
GPIO.output(C, True)
|
||||
sleep (time)
|
||||
GPIO.output(C, False)
|
||||
|
||||
def Step4():
|
||||
GPIO.output(B, True)
|
||||
GPIO.output(C, True)
|
||||
sleep (time)
|
||||
GPIO.output(B, False)
|
||||
GPIO.output(C, False)
|
||||
|
||||
def Step5():
|
||||
GPIO.output(B, True)
|
||||
sleep (time)
|
||||
GPIO.output(B, False)
|
||||
|
||||
def Step6():
|
||||
GPIO.output(A, True)
|
||||
GPIO.output(B, True)
|
||||
sleep (time)
|
||||
GPIO.output(A, False)
|
||||
GPIO.output(B, False)
|
||||
|
||||
def Step7():
|
||||
GPIO.output(A, True)
|
||||
sleep (time)
|
||||
GPIO.output(A, False)
|
||||
|
||||
def Step8():
|
||||
GPIO.output(D, True)
|
||||
GPIO.output(A, True)
|
||||
sleep (time)
|
||||
GPIO.output(D, False)
|
||||
GPIO.output(A, False)
|
||||
|
||||
# Volle Umdrehung
|
||||
|
||||
for i in range (steps):
|
||||
Step8()
|
||||
Step7()
|
||||
Step6()
|
||||
Step5()
|
||||
Step4()
|
||||
Step3()
|
||||
Step2()
|
||||
Step1()
|
||||
print (i)
|
||||
if steps < 0:
|
||||
steps = 0-steps
|
||||
|
||||
for i in range (steps):
|
||||
Step1()
|
||||
Step2()
|
||||
Step3()
|
||||
Step4()
|
||||
Step5()
|
||||
Step6()
|
||||
Step7()
|
||||
Step8()
|
||||
print (i)
|
||||
|
||||
GPIO.cleanup()
|
||||
37
pulse.py
Normal file
37
pulse.py
Normal file
@ -0,0 +1,37 @@
|
||||
import sys, getopt
|
||||
import RPi.GPIO as GPIO
|
||||
import time
|
||||
import threading
|
||||
|
||||
ledPin = 5
|
||||
|
||||
def setup():
|
||||
global pwm
|
||||
GPIO.setmode(GPIO.BOARD)
|
||||
GPIO.setup(ledPin, GPIO.OUT)
|
||||
GPIO.output(ledPin, GPIO.LOW)
|
||||
pwm = GPIO.PWM(ledPin, 1000) # Set Frequency to 1 KHz
|
||||
pwm.start(0) # Set the starting Duty Cycle
|
||||
|
||||
def loop():
|
||||
while True:
|
||||
for dc in range(0, 101, 1):
|
||||
pwm.ChangeDutyCycle(dc)
|
||||
time.sleep(0.01)
|
||||
time.sleep(1)
|
||||
for dc in range(100, -1, -1):
|
||||
pwm.ChangeDutyCycle(dc)
|
||||
time.sleep(0.01)
|
||||
time.sleep(1)
|
||||
|
||||
def destroy():
|
||||
pwm.stop()
|
||||
GPIO.output(ledPin, GPIO.LOW)
|
||||
GPIO.cleanup()
|
||||
|
||||
if __name__ == '__main__':
|
||||
setup()
|
||||
try:
|
||||
loop()
|
||||
except KeyboardInterrupt:
|
||||
destroy()
|
||||
44
raspi_gpio.md
Normal file
44
raspi_gpio.md
Normal file
@ -0,0 +1,44 @@
|
||||
## Raspberry Pi Pinbelegung
|
||||
|
||||
- allgemein
|
||||
|
||||
1 3.3V (rot)
|
||||
6 GND (schwarz)
|
||||
|
||||
- Relais
|
||||
|
||||
2 (orange)
|
||||
3 (braun)
|
||||
|
||||
- Motor 1
|
||||
|
||||
17 (grau)
|
||||
18 (weiß)
|
||||
27 (schwarz)
|
||||
22 (braun)
|
||||
|
||||
- Endschalter 1
|
||||
|
||||
23 (weiß)
|
||||
|
||||
- Motor 2
|
||||
|
||||
5 (gelb)
|
||||
6 (grün)
|
||||
13 (blau)
|
||||
19 (lila)
|
||||
|
||||
- Endschalter 2
|
||||
|
||||
26 (lila)
|
||||
|
||||
- Motor 3
|
||||
|
||||
12 (rot)
|
||||
16 (orange)
|
||||
20 (gelb)
|
||||
21 (grün)
|
||||
|
||||
- Endschalter 3
|
||||
|
||||
25 (grau)
|
||||
24
raspi_setup.md
Normal file
24
raspi_setup.md
Normal file
@ -0,0 +1,24 @@
|
||||
# Raspberry Pi
|
||||
|
||||
Raspbian lite installieren
|
||||
|
||||
Auf der vorbereiteten SD-Karte muss im Laufwerk "boot" eine leere Datei `ssh` angelegt werden, damit der SSH-Zugang freigeschaltet wird.
|
||||
|
||||
Nach dem ersten Login:
|
||||
|
||||
```
|
||||
sudo apt update
|
||||
sudo apt upgrade
|
||||
```
|
||||
|
||||
Konfiguration anpassen:
|
||||
|
||||
```
|
||||
sudo raspi-config
|
||||
```
|
||||
|
||||
Zusatzprogramme installieren
|
||||
|
||||
```
|
||||
sudo apt install mc git
|
||||
```
|
||||
22
relais.py
Normal file
22
relais.py
Normal file
@ -0,0 +1,22 @@
|
||||
import sys, getopt
|
||||
import RPi.GPIO as GPIO
|
||||
import time
|
||||
import threading
|
||||
|
||||
GPIO.setmode(GPIO.BCM)
|
||||
GPIO.setwarnings(False)
|
||||
|
||||
RELAIS_1_GPIO = 2
|
||||
GPIO.setup(RELAIS_1_GPIO, GPIO.OUT) # GPIO Modus zuweisen
|
||||
GPIO.output(RELAIS_1_GPIO, GPIO.LOW) # aus
|
||||
|
||||
#time.sleep(3)
|
||||
|
||||
#GPIO.output(RELAIS_1_GPIO, GPIO.HIGH) # an
|
||||
|
||||
#time.sleep(3)
|
||||
#fertig
|
||||
|
||||
#if __name__ == '__main__':
|
||||
# while True:
|
||||
# test = raw_input('Test')
|
||||
344
reset.py
Normal file
344
reset.py
Normal file
@ -0,0 +1,344 @@
|
||||
import sys, getopt
|
||||
import RPi.GPIO as GPIO
|
||||
import time
|
||||
import threading
|
||||
|
||||
delay = 0.004
|
||||
delay_y = 0.012
|
||||
delay_z = 0.004
|
||||
freq = 50000
|
||||
cyc = 4
|
||||
pos_m1 = 0
|
||||
pos_m2 = 0
|
||||
pos_m3 = 0
|
||||
ausgleich_m3 = 1
|
||||
|
||||
schritte_m1 = 180
|
||||
schritte_m2 = 120
|
||||
schritte_m3 = 40
|
||||
#schritte = int(sys.argv[1])
|
||||
#zoom = int(sys.argv[2])
|
||||
#print('Schritte: ', schritte)
|
||||
#print('Zoom: ', zoom)
|
||||
|
||||
GPIO.setmode(GPIO.BCM)
|
||||
GPIO.setwarnings(False)
|
||||
|
||||
m1_coil_A_1_pin = 17 # gelb
|
||||
m1_coil_B_1_pin = 18 # schwarz
|
||||
m1_coil_A_2_pin = 27 # orange
|
||||
m1_coil_B_2_pin = 22 # braun
|
||||
|
||||
m2_coil_A_1_pin = 19 # schwarz
|
||||
m2_coil_B_1_pin = 13 # gelb
|
||||
m2_coil_A_2_pin = 6 # orange
|
||||
m2_coil_B_2_pin = 5 # rot
|
||||
|
||||
m3_coil_A_1_pin = 16 # schwarz
|
||||
m3_coil_B_1_pin = 12 # gelb
|
||||
m3_coil_A_2_pin = 21 # braun
|
||||
m3_coil_B_2_pin = 20 # orange
|
||||
|
||||
RELAIS_1_GPIO = 2
|
||||
RELAIS_2_GPIO = 3
|
||||
|
||||
Endschalter_1 = 23
|
||||
Endschalter_2 = 26
|
||||
Endschalter_3 = 25
|
||||
|
||||
# anpassen, falls andere Sequenz
|
||||
#StepCount = 8
|
||||
#Seq = list(range(0, StepCount))
|
||||
#Seq[0] = [1,0,0,0]
|
||||
#Seq[1] = [1,1,0,0]
|
||||
#Seq[2] = [0,1,0,0]
|
||||
#Seq[3] = [0,1,1,0]
|
||||
#Seq[4] = [0,0,1,0]
|
||||
#Seq[5] = [0,0,1,1]
|
||||
#Seq[6] = [0,0,0,1]
|
||||
#Seq[7] = [1,0,0,1]
|
||||
|
||||
StepCount = 4
|
||||
Seq = list(range(0, StepCount))
|
||||
Seq[0] = [1,0,0,0]
|
||||
Seq[1] = [0,1,0,0]
|
||||
Seq[2] = [0,0,1,0]
|
||||
Seq[3] = [0,0,0,1]
|
||||
|
||||
#GPIO.setup(enable_pin, GPIO.OUT)
|
||||
GPIO.setup(m1_coil_A_1_pin, GPIO.OUT)
|
||||
GPIO.setup(m1_coil_A_2_pin, GPIO.OUT)
|
||||
GPIO.setup(m1_coil_B_1_pin, GPIO.OUT)
|
||||
GPIO.setup(m1_coil_B_2_pin, GPIO.OUT)
|
||||
|
||||
GPIO.setup(m2_coil_A_1_pin, GPIO.OUT)
|
||||
GPIO.setup(m2_coil_A_2_pin, GPIO.OUT)
|
||||
GPIO.setup(m2_coil_B_1_pin, GPIO.OUT)
|
||||
GPIO.setup(m2_coil_B_2_pin, GPIO.OUT)
|
||||
|
||||
GPIO.setup(m3_coil_A_1_pin, GPIO.OUT)
|
||||
GPIO.setup(m3_coil_A_2_pin, GPIO.OUT)
|
||||
GPIO.setup(m3_coil_B_1_pin, GPIO.OUT)
|
||||
GPIO.setup(m3_coil_B_2_pin, GPIO.OUT)
|
||||
|
||||
GPIO.setup(Endschalter_1, GPIO.IN)
|
||||
GPIO.setup(Endschalter_2, GPIO.IN)
|
||||
GPIO.setup(Endschalter_3, GPIO.IN)
|
||||
|
||||
# pwm Setup fuer Haltestrom
|
||||
#pwm1a = GPIO.PWM(m1_coil_A_1_pin, freq)
|
||||
#pwm2a = GPIO.PWM(m2_coil_A_1_pin, freq)
|
||||
#pwm2b = GPIO.PWM(m2_coil_B_1_pin, freq)
|
||||
#pwm1.start(0) # Initialisierung
|
||||
#pwm2.start(0) # Initialisierung
|
||||
|
||||
|
||||
GPIO.setup(RELAIS_1_GPIO, GPIO.OUT) # GPIO Modus zuweisen
|
||||
GPIO.setup(RELAIS_2_GPIO, GPIO.OUT) # GPIO Modus zuweisen
|
||||
|
||||
GPIO.output(RELAIS_1_GPIO, GPIO.LOW) # an
|
||||
GPIO.output(RELAIS_2_GPIO, GPIO.HIGH) # aus
|
||||
time.sleep(3)
|
||||
GPIO.output(RELAIS_2_GPIO, GPIO.LOW) # an
|
||||
|
||||
def setStep(motor, w1, w2, w3, w4):
|
||||
if motor == 'm1':
|
||||
GPIO.output(m1_coil_A_1_pin, w1)
|
||||
GPIO.output(m1_coil_B_1_pin, w2)
|
||||
GPIO.output(m1_coil_A_2_pin, w3)
|
||||
GPIO.output(m1_coil_B_2_pin, w4)
|
||||
if motor == 'm2':
|
||||
GPIO.output(m2_coil_A_1_pin, w1)
|
||||
GPIO.output(m2_coil_B_1_pin, w2)
|
||||
GPIO.output(m2_coil_A_2_pin, w3)
|
||||
GPIO.output(m2_coil_B_2_pin, w4)
|
||||
|
||||
if motor == 'm3':
|
||||
GPIO.output(m3_coil_A_1_pin, w1)
|
||||
GPIO.output(m3_coil_B_1_pin, w2)
|
||||
GPIO.output(m3_coil_A_2_pin, w3)
|
||||
GPIO.output(m3_coil_B_2_pin, w4)
|
||||
|
||||
|
||||
def forward(motor, delay, steps):
|
||||
global pos_m1, pos_m2, pos_m3
|
||||
global schritte_m1, schritte_m2, schritte_m3
|
||||
#d = int(delay) / 1000.0
|
||||
d = delay
|
||||
s = int(steps)
|
||||
for i in range(s):
|
||||
if motor == 'm1':
|
||||
if pos_m1 >= schritte_m1:
|
||||
print('Motor1 hat positives Ende erreicht')
|
||||
break
|
||||
else:
|
||||
pos_m1 = pos_m1 + 1
|
||||
#print('Motor1-Pos: ' + str(pos_m1))
|
||||
|
||||
if motor == 'm2':
|
||||
if pos_m2 >= schritte_m2:
|
||||
print('Motor2 hat positives Ende erreicht')
|
||||
break
|
||||
else:
|
||||
pos_m2 = pos_m2 + 1
|
||||
#print('Motor2-Pos: ' + str(pos_m2))
|
||||
|
||||
if motor == 'm3':
|
||||
if pos_m3 >= schritte_m3:
|
||||
print('Motor3 hat positives Ende erreicht')
|
||||
break
|
||||
else:
|
||||
pos_m3 = pos_m3 + 1
|
||||
#print('Motor3-Pos: ' + str(pos_m3))
|
||||
|
||||
#time.sleep(0.01)
|
||||
|
||||
for j in range(StepCount):
|
||||
setStep(motor, Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(d)
|
||||
|
||||
if motor == 'm3':
|
||||
for i in range(int(ausgleich_m3)):
|
||||
for j in range(StepCount):
|
||||
setStep(motor, Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(d)
|
||||
|
||||
|
||||
def backwards(motor, delay, steps):
|
||||
global pos_m1, pos_m2, pos_m3
|
||||
global schritte_m1, schritte_m2, schritte_m3
|
||||
#d = int(delay) / 1000.0
|
||||
d = delay
|
||||
s = int(steps)
|
||||
for i in range(s):
|
||||
if motor == 'm1':
|
||||
if GPIO.input(Endschalter_1) == GPIO.LOW:
|
||||
print("Motor1 Endschalter")
|
||||
pos_m1 = 0
|
||||
break
|
||||
else:
|
||||
pos_m1 = pos_m1 - 1
|
||||
#print('Motor1-Pos: ' + str(pos_m1))
|
||||
|
||||
if motor == 'm2':
|
||||
if GPIO.input(Endschalter_2) == GPIO.LOW:
|
||||
print("Motor2 Endschalter")
|
||||
pos_m2 = 0
|
||||
break
|
||||
else:
|
||||
pos_m2 = pos_m2 - 1
|
||||
#print('Motor2-Pos: ' + str(pos_m2))
|
||||
|
||||
if motor == 'm3':
|
||||
if GPIO.input(Endschalter_3) == GPIO.LOW:
|
||||
print("Motor3 Endschalter")
|
||||
pos_m3 = 0
|
||||
break
|
||||
else:
|
||||
pos_m3 = pos_m3 - 1
|
||||
#print('Motor3-Pos: ' + str(pos_m3))
|
||||
|
||||
for j in reversed(range(StepCount)):
|
||||
setStep(motor, Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(d)
|
||||
|
||||
if motor == 'm3':
|
||||
for i in range(int(ausgleich_m3)):
|
||||
for j in reversed(range(StepCount)):
|
||||
setStep(motor, Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(d)
|
||||
|
||||
def stopMotor(motor, stop):
|
||||
if motor == 'm1':
|
||||
if stop == 0:
|
||||
pwm1a.stop()
|
||||
else:
|
||||
pwm1a.start(0)
|
||||
pwm1a.ChangeFrequency(freq)
|
||||
pwm1a.ChangeDutyCycle(cyc)
|
||||
|
||||
|
||||
if motor == 'm2':
|
||||
if stop == 0:
|
||||
pwm2a.stop()
|
||||
#pwm2b.stop()
|
||||
else:
|
||||
pwm2a.start(0)
|
||||
pwm2a.ChangeFrequency(freq)
|
||||
pwm2a.ChangeDutyCycle(cyc)
|
||||
#pwm2b.start(0)
|
||||
#pwm2b.ChangeFrequency(freq)
|
||||
#pwm2b.ChangeDutyCycle(cyc)
|
||||
|
||||
def initMotor(motor):
|
||||
global pos_m1, pos_m2, pos_m3
|
||||
|
||||
if motor == 'm1':
|
||||
print('Motor1 eichen')
|
||||
if GPIO.input(Endschalter_1) == GPIO.LOW:
|
||||
forward('m1', delay, 10)
|
||||
|
||||
backwards('m1', delay, schritte_m1)
|
||||
stopMotor('m1', 1)
|
||||
pos_m1 = 0
|
||||
|
||||
if motor == 'm2':
|
||||
print('Motor2 eichen')
|
||||
if GPIO.input(Endschalter_2) == GPIO.LOW:
|
||||
forward('m2', delay_y, 10)
|
||||
|
||||
backwards('m2', delay_y, schritte_m2)
|
||||
stopMotor('m2', 1)
|
||||
pos_m2 = 0
|
||||
|
||||
if motor == 'm3':
|
||||
print('Motor3 eichen')
|
||||
if GPIO.input(Endschalter_3) == GPIO.LOW:
|
||||
forward('m3', delay_z, 10)
|
||||
|
||||
backwards('m3', delay_z, schritte_m3)
|
||||
pos_m3 = 0
|
||||
|
||||
class MoveV(threading.Thread):
|
||||
def __init__(self, motor, schritte, delay, halten):
|
||||
threading.Thread.__init__(self)
|
||||
self.motor = motor
|
||||
self.schritte = schritte
|
||||
self.delay = delay
|
||||
self.halten = halten
|
||||
self.daemon = True
|
||||
self.start()
|
||||
|
||||
def run(self):
|
||||
stopMotor(self.motor, 0)
|
||||
forward(self.motor, self.delay, self.schritte)
|
||||
setStep(self.motor, 0,0,0,0)
|
||||
|
||||
if self.halten == 1:
|
||||
stopMotor(self.motor, 1)
|
||||
|
||||
class MoveR(threading.Thread):
|
||||
def __init__(self, motor, schritte, delay, halten):
|
||||
threading.Thread.__init__(self)
|
||||
self.motor = motor
|
||||
self.schritte = schritte
|
||||
self.delay = delay
|
||||
self.halten = halten
|
||||
self.daemon = True
|
||||
self.start()
|
||||
|
||||
def run(self):
|
||||
stopMotor(self.motor, 0)
|
||||
backwards(self.motor, self.delay, abs(self.schritte))
|
||||
setStep(self.motor, 0,0,0,0)
|
||||
|
||||
if self.halten == 1:
|
||||
stopMotor(self.motor, 1)
|
||||
|
||||
#initMotor('m1')
|
||||
print('start')
|
||||
#initMotor('m1')
|
||||
#initMotor('m2')
|
||||
#initMotor('m3')
|
||||
|
||||
|
||||
#for i in range(int(20)):
|
||||
# for j in range(StepCount):
|
||||
# setStep('m3', Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
# time.sleep(0.02)
|
||||
|
||||
#setStep('m3', 0,0,0,0)
|
||||
|
||||
#time.sleep(2)
|
||||
|
||||
pwm1x = GPIO.PWM(m2_coil_A_1_pin, freq)
|
||||
pwm2x = GPIO.PWM(m2_coil_B_1_pin, freq)
|
||||
pwm3x = GPIO.PWM(m2_coil_A_2_pin, freq)
|
||||
pwm4x = GPIO.PWM(m2_coil_B_2_pin, freq)
|
||||
|
||||
f = 30000
|
||||
|
||||
pwm1x.start(0)
|
||||
pwm1x.ChangeFrequency(f)
|
||||
pwm1x.ChangeDutyCycle(0)
|
||||
pwm2x.start(0)
|
||||
pwm2x.ChangeFrequency(f)
|
||||
pwm2x.ChangeDutyCycle(0)
|
||||
pwm3x.start(0)
|
||||
pwm3x.ChangeFrequency(f)
|
||||
pwm3x.ChangeDutyCycle(0)
|
||||
pwm4x.start(0)
|
||||
pwm4x.ChangeFrequency(f)
|
||||
pwm4x.ChangeDutyCycle(100)
|
||||
|
||||
time.sleep(4)
|
||||
|
||||
|
||||
|
||||
pwm1x.stop()
|
||||
pwm2x.stop()
|
||||
pwm3x.stop()
|
||||
pwm4x.stop()
|
||||
|
||||
#pwm.stop()
|
||||
GPIO.cleanup()
|
||||
59
schrittmotor.py
Normal file
59
schrittmotor.py
Normal file
@ -0,0 +1,59 @@
|
||||
import RPi.GPIO as GPIO
|
||||
import time
|
||||
|
||||
GPIO.setmode(GPIO.BCM)
|
||||
GPIO.setwarnings(False)
|
||||
coil_A_1_pin = 12 # pink
|
||||
coil_A_2_pin = 20 # orange
|
||||
coil_B_1_pin = 16 # blau
|
||||
coil_B_2_pin = 21 # gelb
|
||||
#enable_pin = 7 # Nur bei bestimmten Motoren benoetigt (+Zeile 24 und 30)
|
||||
|
||||
# anpassen, falls andere Sequenz
|
||||
StepCount = 8
|
||||
Seq = list(range(0, StepCount))
|
||||
Seq[0] = [1,0,0,0]
|
||||
Seq[1] = [1,0,1,0]
|
||||
Seq[2] = [0,0,1,0]
|
||||
Seq[3] = [0,1,1,0]
|
||||
Seq[4] = [0,1,0,0]
|
||||
Seq[5] = [0,1,0,1]
|
||||
Seq[6] = [0,0,0,1]
|
||||
Seq[7] = [1,0,0,1]
|
||||
|
||||
#GPIO.setup(enable_pin, GPIO.OUT)
|
||||
GPIO.setup(coil_A_1_pin, GPIO.OUT)
|
||||
GPIO.setup(coil_A_2_pin, GPIO.OUT)
|
||||
GPIO.setup(coil_B_1_pin, GPIO.OUT)
|
||||
GPIO.setup(coil_B_2_pin, GPIO.OUT)
|
||||
|
||||
#GPIO.output(enable_pin, 1)
|
||||
|
||||
def setStep(w1, w2, w3, w4):
|
||||
GPIO.output(coil_A_1_pin, w1)
|
||||
GPIO.output(coil_A_2_pin, w2)
|
||||
GPIO.output(coil_B_1_pin, w3)
|
||||
GPIO.output(coil_B_2_pin, w4)
|
||||
|
||||
def forward(delay, steps):
|
||||
for i in range(steps):
|
||||
for j in range(StepCount):
|
||||
setStep(Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(delay)
|
||||
|
||||
def backwards(delay, steps):
|
||||
for i in range(steps):
|
||||
for j in reversed(range(StepCount)):
|
||||
setStep(Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(delay)
|
||||
|
||||
if __name__ == '__main__':
|
||||
while True:
|
||||
#delay = raw_input("Zeitverzoegerung (ms)?")
|
||||
delay = 3
|
||||
steps = raw_input("Wie viele Schritte vorwaerts? ")
|
||||
forward(int(delay) / 1000.0, int(steps))
|
||||
setStep(0,0,0,0)
|
||||
steps = raw_input("Wie viele Schritte rueckwaerts? ")
|
||||
backwards(int(delay) / 1000.0, int(steps))
|
||||
setStep(0,0,0,0)
|
||||
59
schrittmotor2.py
Normal file
59
schrittmotor2.py
Normal file
@ -0,0 +1,59 @@
|
||||
import RPi.GPIO as GPIO
|
||||
import time
|
||||
|
||||
GPIO.setmode(GPIO.BCM)
|
||||
GPIO.setwarnings(False)
|
||||
coil_A_1_pin = 5 # pink
|
||||
coil_A_2_pin = 13 # orange
|
||||
coil_B_1_pin = 6 # blau
|
||||
coil_B_2_pin = 19 # gelb
|
||||
#enable_pin = 7 # Nur bei bestimmten Motoren benoetigt (+Zeile 24 und 30)
|
||||
|
||||
# anpassen, falls andere Sequenz
|
||||
StepCount = 8
|
||||
Seq = list(range(0, StepCount))
|
||||
Seq[0] = [1,0,0,0]
|
||||
Seq[1] = [1,0,1,0]
|
||||
Seq[2] = [0,0,1,0]
|
||||
Seq[3] = [0,1,1,0]
|
||||
Seq[4] = [0,1,0,0]
|
||||
Seq[5] = [0,1,0,1]
|
||||
Seq[6] = [0,0,0,1]
|
||||
Seq[7] = [1,0,0,1]
|
||||
|
||||
#GPIO.setup(enable_pin, GPIO.OUT)
|
||||
GPIO.setup(coil_A_1_pin, GPIO.OUT)
|
||||
GPIO.setup(coil_A_2_pin, GPIO.OUT)
|
||||
GPIO.setup(coil_B_1_pin, GPIO.OUT)
|
||||
GPIO.setup(coil_B_2_pin, GPIO.OUT)
|
||||
|
||||
#GPIO.output(enable_pin, 1)
|
||||
|
||||
def setStep(w1, w2, w3, w4):
|
||||
GPIO.output(coil_A_1_pin, w1)
|
||||
GPIO.output(coil_A_2_pin, w2)
|
||||
GPIO.output(coil_B_1_pin, w3)
|
||||
GPIO.output(coil_B_2_pin, w4)
|
||||
|
||||
def forward(delay, steps):
|
||||
for i in range(steps):
|
||||
for j in range(StepCount):
|
||||
setStep(Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(delay)
|
||||
|
||||
def backwards(delay, steps):
|
||||
for i in range(steps):
|
||||
for j in reversed(range(StepCount)):
|
||||
setStep(Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(delay)
|
||||
|
||||
if __name__ == '__main__':
|
||||
while True:
|
||||
#delay = raw_input("Zeitverzoegerung (ms)?")
|
||||
delay = 3
|
||||
steps = raw_input("Wie viele Schritte vorwaerts? ")
|
||||
forward(int(delay) / 1000.0, int(steps))
|
||||
setStep(0,0,0,0)
|
||||
steps = raw_input("Wie viele Schritte rueckwaerts? ")
|
||||
backwards(int(delay) / 1000.0, int(steps))
|
||||
setStep(0,0,0,0)
|
||||
41
servo.py
Normal file
41
servo.py
Normal file
@ -0,0 +1,41 @@
|
||||
import RPi.GPIO as GPIO
|
||||
from time import sleep
|
||||
|
||||
servoPIN = 5
|
||||
GPIO.setmode(GPIO.BCM)
|
||||
GPIO.setup(servoPIN, GPIO.OUT)
|
||||
|
||||
pwm = GPIO.PWM(servoPIN, 25000) # GPIO 17 als PWM mit 50Hz
|
||||
pwm.start(0) # Initialisierung
|
||||
|
||||
def SetAngle(angle):
|
||||
#duty = angle / 18 + 2
|
||||
duty = angle
|
||||
|
||||
if angle == 0:
|
||||
pwm.stop()
|
||||
GPIO.output(servoPIN, False)
|
||||
|
||||
if angle < 0:
|
||||
pwm.stop()
|
||||
sleep(0.01)
|
||||
GPIO.output(servoPIN, True)
|
||||
|
||||
if angle > 0:
|
||||
pwm.start(0)
|
||||
pwm.ChangeFrequency(25000)
|
||||
pwm.ChangeDutyCycle(duty)
|
||||
#sleep(1)
|
||||
#GPIO.output(servoPIN, False)
|
||||
#pwm.ChangeDutyCycle(0)
|
||||
|
||||
try:
|
||||
while True:
|
||||
winkel = raw_input("Winkel: ")
|
||||
SetAngle(int(winkel))
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("Ctl C pressed - ending program")
|
||||
|
||||
pwm.stop()
|
||||
GPIO.cleanup()
|
||||
29
servo2.py
Normal file
29
servo2.py
Normal file
@ -0,0 +1,29 @@
|
||||
import RPi.GPIO as GPIO
|
||||
from time import sleep
|
||||
|
||||
servoPIN = 21
|
||||
GPIO.setmode(GPIO.BCM)
|
||||
GPIO.setup(servoPIN, GPIO.OUT)
|
||||
|
||||
pwm = GPIO.PWM(servoPIN, 50) # GPIO 17 als PWM mit 50Hz
|
||||
pwm.start(0) # Initialisierung
|
||||
|
||||
def SetAngle(angle):
|
||||
duty = angle / 22.5 + 2
|
||||
GPIO.output(servoPIN, True)
|
||||
pwm.ChangeDutyCycle(duty)
|
||||
# pwm.ChangeDutyCycle(angle)
|
||||
sleep(1)
|
||||
GPIO.output(servoPIN, False)
|
||||
pwm.ChangeDutyCycle(0)
|
||||
|
||||
try:
|
||||
while True:
|
||||
winkel = raw_input("Winkel: ")
|
||||
SetAngle(float(winkel))
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("Ctl C pressed - ending program")
|
||||
|
||||
pwm.stop()
|
||||
GPIO.cleanup()
|
||||
396
test.py
Normal file
396
test.py
Normal file
@ -0,0 +1,396 @@
|
||||
import sys, getopt
|
||||
import RPi.GPIO as GPIO
|
||||
import time
|
||||
import threading
|
||||
import math
|
||||
|
||||
delay = 0.004
|
||||
delay_y = 0.012
|
||||
delay_z = 0.004
|
||||
freq = 50000
|
||||
cyc = 4
|
||||
pos_m1 = 0
|
||||
pos_m2 = 0
|
||||
pos_m3 = 0
|
||||
ausgleich_m3 = 1
|
||||
|
||||
schritte_m1 = 180
|
||||
schritte_m2 = 120
|
||||
schritte_m3 = 40
|
||||
#schritte = int(sys.argv[1])
|
||||
#zoom = int(sys.argv[2])
|
||||
#print('Schritte: ', schritte)
|
||||
#print('Zoom: ', zoom)
|
||||
|
||||
GPIO.setmode(GPIO.BCM)
|
||||
GPIO.setwarnings(False)
|
||||
|
||||
m1_coil_A_1_pin = 17 # gelb
|
||||
m1_coil_B_1_pin = 18 # schwarz
|
||||
m1_coil_A_2_pin = 27 # orange
|
||||
m1_coil_B_2_pin = 22 # braun
|
||||
|
||||
m2_coil_A_1_pin = 19 # schwarz
|
||||
m2_coil_B_1_pin = 13 # gelb
|
||||
m2_coil_A_2_pin = 6 # orange
|
||||
m2_coil_B_2_pin = 5 # rot
|
||||
|
||||
m3_coil_A_1_pin = 16 # schwarz
|
||||
m3_coil_B_1_pin = 12 # gelb
|
||||
m3_coil_A_2_pin = 21 # braun
|
||||
m3_coil_B_2_pin = 20 # orange
|
||||
|
||||
RELAIS_1_GPIO = 2
|
||||
RELAIS_2_GPIO = 3
|
||||
|
||||
Endschalter_1 = 23
|
||||
Endschalter_2 = 26
|
||||
Endschalter_3 = 25
|
||||
|
||||
# anpassen, falls andere Sequenz
|
||||
#StepCount = 8
|
||||
#Seq = list(range(0, StepCount))
|
||||
#Seq[0] = [1,0,0,0]
|
||||
#Seq[1] = [1,1,0,0]
|
||||
#Seq[2] = [0,1,0,0]
|
||||
#Seq[3] = [0,1,1,0]
|
||||
#Seq[4] = [0,0,1,0]
|
||||
#Seq[5] = [0,0,1,1]
|
||||
#Seq[6] = [0,0,0,1]
|
||||
#Seq[7] = [1,0,0,1]
|
||||
|
||||
StepCount = 4
|
||||
Seq = list(range(0, StepCount))
|
||||
Seq[0] = [1,0,0,0]
|
||||
Seq[1] = [0,1,0,0]
|
||||
Seq[2] = [0,0,1,0]
|
||||
Seq[3] = [0,0,0,1]
|
||||
|
||||
#GPIO.setup(enable_pin, GPIO.OUT)
|
||||
GPIO.setup(m1_coil_A_1_pin, GPIO.OUT)
|
||||
GPIO.setup(m1_coil_A_2_pin, GPIO.OUT)
|
||||
GPIO.setup(m1_coil_B_1_pin, GPIO.OUT)
|
||||
GPIO.setup(m1_coil_B_2_pin, GPIO.OUT)
|
||||
|
||||
GPIO.setup(m2_coil_A_1_pin, GPIO.OUT)
|
||||
GPIO.setup(m2_coil_A_2_pin, GPIO.OUT)
|
||||
GPIO.setup(m2_coil_B_1_pin, GPIO.OUT)
|
||||
GPIO.setup(m2_coil_B_2_pin, GPIO.OUT)
|
||||
|
||||
GPIO.setup(m3_coil_A_1_pin, GPIO.OUT)
|
||||
GPIO.setup(m3_coil_A_2_pin, GPIO.OUT)
|
||||
GPIO.setup(m3_coil_B_1_pin, GPIO.OUT)
|
||||
GPIO.setup(m3_coil_B_2_pin, GPIO.OUT)
|
||||
|
||||
GPIO.setup(Endschalter_1, GPIO.IN)
|
||||
GPIO.setup(Endschalter_2, GPIO.IN)
|
||||
GPIO.setup(Endschalter_3, GPIO.IN)
|
||||
|
||||
# pwm Setup fuer Haltestrom
|
||||
#pwm1a = GPIO.PWM(m1_coil_A_1_pin, freq)
|
||||
#pwm2a = GPIO.PWM(m2_coil_A_1_pin, freq)
|
||||
#pwm2b = GPIO.PWM(m2_coil_B_1_pin, freq)
|
||||
#pwm1.start(0) # Initialisierung
|
||||
#pwm2.start(0) # Initialisierung
|
||||
|
||||
|
||||
GPIO.setup(RELAIS_1_GPIO, GPIO.OUT) # GPIO Modus zuweisen
|
||||
GPIO.setup(RELAIS_2_GPIO, GPIO.OUT) # GPIO Modus zuweisen
|
||||
|
||||
GPIO.output(RELAIS_1_GPIO, GPIO.LOW) # an
|
||||
GPIO.output(RELAIS_2_GPIO, GPIO.HIGH) # aus
|
||||
#time.sleep(1)
|
||||
#GPIO.output(RELAIS_2_GPIO, GPIO.LOW) # an
|
||||
|
||||
def setStep(motor, w1, w2, w3, w4):
|
||||
if motor == 'm1':
|
||||
GPIO.output(m1_coil_A_1_pin, w1)
|
||||
GPIO.output(m1_coil_B_1_pin, w2)
|
||||
GPIO.output(m1_coil_A_2_pin, w3)
|
||||
GPIO.output(m1_coil_B_2_pin, w4)
|
||||
if motor == 'm2':
|
||||
GPIO.output(m2_coil_A_1_pin, w1)
|
||||
GPIO.output(m2_coil_B_1_pin, w2)
|
||||
GPIO.output(m2_coil_A_2_pin, w3)
|
||||
GPIO.output(m2_coil_B_2_pin, w4)
|
||||
|
||||
if motor == 'm3':
|
||||
GPIO.output(m3_coil_A_1_pin, w1)
|
||||
GPIO.output(m3_coil_B_1_pin, w2)
|
||||
GPIO.output(m3_coil_A_2_pin, w3)
|
||||
GPIO.output(m3_coil_B_2_pin, w4)
|
||||
|
||||
|
||||
def forward(motor, delay, steps):
|
||||
global pos_m1, pos_m2, pos_m3
|
||||
global schritte_m1, schritte_m2, schritte_m3
|
||||
#d = int(delay) / 1000.0
|
||||
d = delay
|
||||
s = int(steps)
|
||||
for i in range(s):
|
||||
if motor == 'm1':
|
||||
if pos_m1 >= schritte_m1:
|
||||
print('Motor1 hat positives Ende erreicht')
|
||||
break
|
||||
else:
|
||||
pos_m1 = pos_m1 + 1
|
||||
#print('Motor1-Pos: ' + str(pos_m1))
|
||||
|
||||
if motor == 'm2':
|
||||
if pos_m2 >= schritte_m2:
|
||||
print('Motor2 hat positives Ende erreicht')
|
||||
break
|
||||
else:
|
||||
pos_m2 = pos_m2 + 1
|
||||
#print('Motor2-Pos: ' + str(pos_m2))
|
||||
|
||||
if motor == 'm3':
|
||||
if pos_m3 >= schritte_m3:
|
||||
print('Motor3 hat positives Ende erreicht')
|
||||
break
|
||||
else:
|
||||
pos_m3 = pos_m3 + 1
|
||||
#print('Motor3-Pos: ' + str(pos_m3))
|
||||
|
||||
#time.sleep(0.01)
|
||||
|
||||
for j in range(StepCount):
|
||||
setStep(motor, Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(d)
|
||||
|
||||
if motor == 'm3':
|
||||
for i in range(int(ausgleich_m3)):
|
||||
for j in range(StepCount):
|
||||
setStep(motor, Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(d)
|
||||
|
||||
|
||||
def backwards(motor, delay, steps):
|
||||
global pos_m1, pos_m2, pos_m3
|
||||
global schritte_m1, schritte_m2, schritte_m3
|
||||
#d = int(delay) / 1000.0
|
||||
d = delay
|
||||
s = int(steps)
|
||||
for i in range(s):
|
||||
if motor == 'm1':
|
||||
if GPIO.input(Endschalter_1) == GPIO.LOW:
|
||||
print("Motor1 Endschalter")
|
||||
pos_m1 = 0
|
||||
break
|
||||
else:
|
||||
pos_m1 = pos_m1 - 1
|
||||
#print('Motor1-Pos: ' + str(pos_m1))
|
||||
|
||||
if motor == 'm2':
|
||||
if GPIO.input(Endschalter_2) == GPIO.LOW:
|
||||
print("Motor2 Endschalter")
|
||||
pos_m2 = 0
|
||||
break
|
||||
else:
|
||||
pos_m2 = pos_m2 - 1
|
||||
#print('Motor2-Pos: ' + str(pos_m2))
|
||||
|
||||
if motor == 'm3':
|
||||
if GPIO.input(Endschalter_3) == GPIO.LOW:
|
||||
print("Motor3 Endschalter")
|
||||
pos_m3 = 0
|
||||
break
|
||||
else:
|
||||
pos_m3 = pos_m3 - 1
|
||||
#print('Motor3-Pos: ' + str(pos_m3))
|
||||
|
||||
for j in reversed(range(StepCount)):
|
||||
setStep(motor, Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(d)
|
||||
|
||||
if motor == 'm3':
|
||||
for i in range(int(ausgleich_m3)):
|
||||
for j in reversed(range(StepCount)):
|
||||
setStep(motor, Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
time.sleep(d)
|
||||
|
||||
def stopMotor(motor, stop):
|
||||
if motor == 'm1':
|
||||
if stop == 0:
|
||||
pwm1a.stop()
|
||||
else:
|
||||
pwm1a.start(0)
|
||||
pwm1a.ChangeFrequency(freq)
|
||||
pwm1a.ChangeDutyCycle(cyc)
|
||||
|
||||
|
||||
if motor == 'm2':
|
||||
if stop == 0:
|
||||
pwm2a.stop()
|
||||
#pwm2b.stop()
|
||||
else:
|
||||
pwm2a.start(0)
|
||||
pwm2a.ChangeFrequency(freq)
|
||||
pwm2a.ChangeDutyCycle(cyc)
|
||||
#pwm2b.start(0)
|
||||
#pwm2b.ChangeFrequency(freq)
|
||||
#pwm2b.ChangeDutyCycle(cyc)
|
||||
|
||||
def initMotor(motor):
|
||||
global pos_m1, pos_m2, pos_m3
|
||||
|
||||
if motor == 'm1':
|
||||
print('Motor1 eichen')
|
||||
if GPIO.input(Endschalter_1) == GPIO.LOW:
|
||||
forward('m1', delay, 10)
|
||||
|
||||
backwards('m1', delay, schritte_m1)
|
||||
stopMotor('m1', 1)
|
||||
pos_m1 = 0
|
||||
|
||||
if motor == 'm2':
|
||||
print('Motor2 eichen')
|
||||
if GPIO.input(Endschalter_2) == GPIO.LOW:
|
||||
forward('m2', delay_y, 10)
|
||||
|
||||
backwards('m2', delay_y, schritte_m2)
|
||||
stopMotor('m2', 1)
|
||||
pos_m2 = 0
|
||||
|
||||
if motor == 'm3':
|
||||
print('Motor3 eichen')
|
||||
if GPIO.input(Endschalter_3) == GPIO.LOW:
|
||||
forward('m3', delay_z, 10)
|
||||
|
||||
backwards('m3', delay_z, schritte_m3)
|
||||
pos_m3 = 0
|
||||
|
||||
class MoveV(threading.Thread):
|
||||
def __init__(self, motor, schritte, delay, halten):
|
||||
threading.Thread.__init__(self)
|
||||
self.motor = motor
|
||||
self.schritte = schritte
|
||||
self.delay = delay
|
||||
self.halten = halten
|
||||
self.daemon = True
|
||||
self.start()
|
||||
|
||||
def run(self):
|
||||
stopMotor(self.motor, 0)
|
||||
forward(self.motor, self.delay, self.schritte)
|
||||
setStep(self.motor, 0,0,0,0)
|
||||
|
||||
if self.halten == 1:
|
||||
stopMotor(self.motor, 1)
|
||||
|
||||
class MoveR(threading.Thread):
|
||||
def __init__(self, motor, schritte, delay, halten):
|
||||
threading.Thread.__init__(self)
|
||||
self.motor = motor
|
||||
self.schritte = schritte
|
||||
self.delay = delay
|
||||
self.halten = halten
|
||||
self.daemon = True
|
||||
self.start()
|
||||
|
||||
def run(self):
|
||||
stopMotor(self.motor, 0)
|
||||
backwards(self.motor, self.delay, abs(self.schritte))
|
||||
setStep(self.motor, 0,0,0,0)
|
||||
|
||||
if self.halten == 1:
|
||||
stopMotor(self.motor, 1)
|
||||
|
||||
#initMotor('m1')
|
||||
print('start')
|
||||
#initMotor('m1')
|
||||
#initMotor('m2')
|
||||
#initMotor('m3')
|
||||
|
||||
|
||||
#for i in range(int(20)):
|
||||
# for j in range(StepCount):
|
||||
# setStep('m3', Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
|
||||
# time.sleep(0.02)
|
||||
|
||||
#setStep('m3', 0,0,0,0)
|
||||
|
||||
#time.sleep(2)
|
||||
|
||||
schritte = 40
|
||||
schritte2 = (schritte * 8) - 1
|
||||
t1 = 0.0003
|
||||
t2 = 0.001
|
||||
t_diff = t2 - t1
|
||||
|
||||
|
||||
def schritt(spule, status, ges_schritte, schritt, t1, t2):
|
||||
w = (schritt * 100 / (ges_schritte - 1)) * 1.8
|
||||
s = round(math.sin(math.radians(w)), 2)
|
||||
t = t2 - (s * (t2 - t1))
|
||||
#print(str(t))
|
||||
|
||||
if status == 1:
|
||||
for i in range(0, 91, 5):
|
||||
dc = round(math.sin(math.radians(i)) * 100, 0)
|
||||
spule.ChangeDutyCycle(dc)
|
||||
time.sleep(t)
|
||||
else:
|
||||
for i in range(0, 91, 5):
|
||||
dc = round(math.cos(math.radians(i)) * 100, 0)
|
||||
spule.ChangeDutyCycle(dc)
|
||||
time.sleep(t)
|
||||
|
||||
def vorwaerts(sp1, sp2, sp3, sp4, schritte, t1, t2):
|
||||
ges_schritte = schritte * 8
|
||||
for i in range(int(schritte)):
|
||||
pos = i * 8
|
||||
schritt(sp1, 1, ges_schritte, pos, t1, t2)
|
||||
schritt(sp4, 0, ges_schritte, pos + 1, t1, t2)
|
||||
schritt(sp2, 1, ges_schritte, pos + 2, t1, t2)
|
||||
schritt(sp1, 0, ges_schritte, pos + 3, t1, t2)
|
||||
schritt(sp3, 1, ges_schritte, pos + 4, t1, t2)
|
||||
schritt(sp2, 0, ges_schritte, pos + 5, t1, t2)
|
||||
schritt(sp4, 1, ges_schritte, pos + 6, t1, t2)
|
||||
schritt(sp3, 0, ges_schritte, pos + 7, t1, t2)
|
||||
|
||||
def rueckwaerts(sp1, sp2, sp3, sp4, schritte, t1, t2):
|
||||
ges_schritte = schritte * 8
|
||||
for i in range(int(schritte)):
|
||||
pos = i * 8
|
||||
schritt(sp3, 1, ges_schritte, pos, t1, t2)
|
||||
schritt(sp4, 0, ges_schritte, pos + 1, t1, t2)
|
||||
schritt(sp2, 1, ges_schritte, pos + 2, t1, t2)
|
||||
schritt(sp3, 0, ges_schritte, pos + 3, t1, t2)
|
||||
schritt(sp1, 1, ges_schritte, pos + 4, t1, t2)
|
||||
schritt(sp2, 0, ges_schritte, pos + 5, t1, t2)
|
||||
schritt(sp4, 1, ges_schritte, pos + 6, t1, t2)
|
||||
schritt(sp1, 0, ges_schritte, pos + 7, t1, t2)
|
||||
|
||||
pwm1x = GPIO.PWM(m2_coil_A_1_pin, freq)
|
||||
pwm2x = GPIO.PWM(m2_coil_B_1_pin, freq)
|
||||
pwm3x = GPIO.PWM(m2_coil_A_2_pin, freq)
|
||||
pwm4x = GPIO.PWM(m2_coil_B_2_pin, freq)
|
||||
|
||||
f = 800
|
||||
|
||||
pwm1x.start(0)
|
||||
pwm1x.ChangeFrequency(f)
|
||||
pwm1x.ChangeDutyCycle(0)
|
||||
pwm2x.start(0)
|
||||
pwm2x.ChangeFrequency(f)
|
||||
pwm2x.ChangeDutyCycle(0)
|
||||
pwm3x.start(0)
|
||||
pwm3x.ChangeFrequency(f)
|
||||
pwm3x.ChangeDutyCycle(0)
|
||||
pwm4x.start(0)
|
||||
pwm4x.ChangeFrequency(f)
|
||||
pwm4x.ChangeDutyCycle(100)
|
||||
|
||||
time.sleep(4)
|
||||
vorwaerts(pwm1x, pwm2x, pwm3x, pwm4x, schritte, t1, t1)
|
||||
time.sleep(2)
|
||||
rueckwaerts(pwm1x, pwm2x, pwm3x, pwm4x, schritte, t2, t2)
|
||||
|
||||
pwm1x.stop()
|
||||
pwm2x.stop()
|
||||
pwm3x.stop()
|
||||
pwm4x.stop()
|
||||
|
||||
#pwm.stop()
|
||||
GPIO.cleanup()
|
||||
Loading…
x
Reference in New Issue
Block a user