199 lines
6.6 KiB
Python
199 lines
6.6 KiB
Python
from src.einstellungen import *
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#import RPi.GPIO as GPIO
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import time
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import pigpio
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import threading
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import math
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pi = pigpio.pi()
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#GPIO.setmode(GPIO.BCM)
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#GPIO.setwarnings(False)
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class motor():
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def __init__(self, name, sp1, sp2, sp3, sp4, t1, t2, te, es, halten, schritte):
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self.name = name
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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.t1 = t1
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self.t2 = t2
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self.te = te
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self.endschalter = es
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self.halten = halten
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self.schritte_max = schritte
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self.pos = 0
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self.freq = freq
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self.freq_halten = freq_halten
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self.cyc_halten = cyc_halten
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self.pwm1 = 0
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self.pwm2 = 0
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self.pwm3 = 0
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self.pwm4 = 0
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def start(self):
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pi.set_mode(self.sp1, pigpio.OUTPUT)
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pi.set_mode(self.sp2, pigpio.OUTPUT)
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pi.set_mode(self.sp3, pigpio.OUTPUT)
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pi.set_mode(self.sp4, pigpio.OUTPUT)
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#GPIO.setup(self.sp1, GPIO.OUT)
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#GPIO.setup(self.sp2, GPIO.OUT)
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#GPIO.setup(self.sp3, GPIO.OUT)
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#GPIO.setup(self.sp4, GPIO.OUT)
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pi.set_PWM_range(self.sp1, 100)
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pi.set_PWM_range(self.sp2, 100)
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pi.set_PWM_range(self.sp3, 100)
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pi.set_PWM_range(self.sp4, 100)
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pi.set_PWM_frequency(self.sp1, self.freq)
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pi.set_PWM_dutycycle(self.sp1, 0)
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#self.pwm1 = GPIO.PWM(self.sp1, self.freq)
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#self.pwm1.start(0)
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pi.set_PWM_frequency(self.sp2, self.freq)
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pi.set_PWM_dutycycle(self.sp2, 0)
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#self.pwm2 = GPIO.PWM(self.sp2, self.freq)
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#self.pwm2.start(0)
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pi.set_PWM_frequency(self.sp3, self.freq)
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pi.set_PWM_dutycycle(self.sp3, 0)
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#self.pwm3 = GPIO.PWM(self.sp3, self.freq)
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#self.pwm3.start(0)
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if self.halten == 1:
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pi.set_PWM_frequency(self.sp4, self.freq_halten)
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pi.set_PWM_dutycycle(self.sp4, cyc_halten)
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#self.pwm4 = GPIO.PWM(self.sp4, self.freq_halten)
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#self.pwm4.start(cyc_halten)
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else:
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pi.set_PWM_frequency(self.sp4, self.freq)
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pi.set_PWM_dutycycle(self.sp4, 0)
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#self.pwm4 = GPIO.PWM(self.sp4, self.freq)
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#self.pwm4.start(0)
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def vorwaerts(self, schritte, eichen=0):
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ges_schritte = schritte * 8
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if eichen == 1:
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temp_t1 = self.te
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temp_t2 = self.te
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else:
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temp_t1 = self.t1
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temp_t2 = self.t2
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if self.halten == 1:
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pi.set_PWM_frequency(self.sp4, self.freq)
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#self.pwm4.ChangeFrequency(self.freq)
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for i in range(int(schritte)):
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if self.pos >= self.schritte_max:
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break
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else:
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self.pos += 1
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temp_pos = i * 8
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einzelschritt(self.sp1, 1, ges_schritte, temp_pos, temp_t1, temp_t2)
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einzelschritt(self.sp4, 0, ges_schritte, temp_pos + 1, temp_t1, temp_t2)
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einzelschritt(self.sp2, 1, ges_schritte, temp_pos + 2, temp_t1, temp_t2)
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einzelschritt(self.sp1, 0, ges_schritte, temp_pos + 3, temp_t1, temp_t2)
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einzelschritt(self.sp3, 1, ges_schritte, temp_pos + 4, temp_t1, temp_t2)
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einzelschritt(self.sp2, 0, ges_schritte, temp_pos + 5, temp_t1, temp_t2)
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einzelschritt(self.sp4, 1, ges_schritte, temp_pos + 6, temp_t1, temp_t2)
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einzelschritt(self.sp3, 0, ges_schritte, temp_pos + 7, temp_t1, temp_t2)
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#print(str(self.pos))
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if self.halten == 1:
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pi.set_PWM_frequency(self.sp4, self.freq_halten)
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pi.set_PWM_dutycycle(self.sp4, cyc_halten)
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#self.pwm4.ChangeFrequency(self.freq_halten)
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#self.pwm4.ChangeDutyCycle(self.cyc_halten)
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else:
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pi.set_PWM_dutycycle(self.sp4, 0)
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#self.pwm4.ChangeDutyCycle(0)
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def rueckwaerts(self, schritte, eichen=0):
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ges_schritte = schritte * 8
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if eichen == 1:
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temp_t1 = self.te
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temp_t2 = self.te
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else:
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temp_t1 = self.t1
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temp_t2 = self.t2
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if self.halten == 1:
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pi.set_PWM_frequency(self.sp4, self.freq)
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#self.pwm4.ChangeFrequency(self.freq)
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for i in range(int(schritte)):
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#if GPIO.input(self.endschalter) == GPIO.LOW:
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if pi.read(self.endschalter) == 0:
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print('Endschalter ' + self.name)
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self.pos = 0
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break
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else:
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self.pos -= 1
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temp_pos = i * 8
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einzelschritt(self.sp3, 1, ges_schritte, temp_pos, temp_t1, temp_t2)
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einzelschritt(self.sp4, 0, ges_schritte, temp_pos + 1, temp_t1, temp_t2)
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einzelschritt(self.sp2, 1, ges_schritte, temp_pos + 2, temp_t1, temp_t2)
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einzelschritt(self.sp3, 0, ges_schritte, temp_pos + 3, temp_t1, temp_t2)
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einzelschritt(self.sp1, 1, ges_schritte, temp_pos + 4, temp_t1, temp_t2)
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einzelschritt(self.sp2, 0, ges_schritte, temp_pos + 5, temp_t1, temp_t2)
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einzelschritt(self.sp4, 1, ges_schritte, temp_pos + 6, temp_t1, temp_t2)
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einzelschritt(self.sp1, 0, ges_schritte, temp_pos + 7, temp_t1, temp_t2)
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#print(str(self.pos))
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if self.halten == 1:
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pi.set_PWM_frequency(self.sp4, self.freq_halten)
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pi.set_PWM_dutycycle(self.sp4, cyc_halten)
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#self.pwm4.ChangeFrequency(self.freq_halten)
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#self.pwm4.ChangeDutyCycle(self.cyc_halten)
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else:
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pi.set_PWM_dutycycle(self.sp4, 0)
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#self.pwm4.ChangeDutyCycle(0)
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def eichen(self):
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#if GPIO.input(self.endschalter) == GPIO.LOW:
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if pi.read(self.endschalter) == 0:
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self.vorwaerts(10, 1)
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self.rueckwaerts(self.schritte_max, 1)
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self.pos = 0
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def gehe_zu(self, position):
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temp_schritte = int(position) - self.pos
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print(str(temp_schritte))
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if temp_schritte > 0:
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self.vorwaerts(temp_schritte)
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else:
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self.rueckwaerts(abs(temp_schritte))
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def einzelschritt(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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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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pi.set_PWM_dutycycle(spule, dc)
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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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pi.set_PWM_dutycycle(spule, dc)
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#spule.ChangeDutyCycle(dc)
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time.sleep(t)
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