102 lines
3.2 KiB
Python
102 lines
3.2 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 threading
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import math
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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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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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self.pwm1 = GPIO.PWM(self.sp1, self.freq)
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self.pwm1.start(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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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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self.pwm4 = GPIO.PWM(self.sp4, self.freq)
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self.pwm4.start(cyc_halten)
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else:
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self.pwm4 = GPIO.PWM(self.sp4, self.freq)
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self.pwm4.start(0)
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print(str(self.sp4))
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print(str(self.pwm4))
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def vorwaerts(self, schritte):
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ges_schritte = schritte * 8
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#print(str(ges_schritte))
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print(str(self.halten))
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if self.halten == 1:
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self.pwm4.ChangeFrequency(self.freq)
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self.pwm4.stop()
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print(str(self.pwm4))
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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.pwm1, 1, ges_schritte, temp_pos, self.t1, self.t2)
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einzelschritt(self.pwm4, 0, ges_schritte, temp_pos + 1, self.t1, self.t2)
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einzelschritt(self.pwm2, 1, ges_schritte, temp_pos + 2, self.t1, self.t2)
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einzelschritt(self.pwm1, 0, ges_schritte, temp_pos + 3, self.t1, self.t2)
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einzelschritt(self.pwm3, 1, ges_schritte, temp_pos + 4, self.t1, self.t2)
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einzelschritt(self.pwm2, 0, ges_schritte, temp_pos + 5, self.t1, self.t2)
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einzelschritt(self.pwm4, 1, ges_schritte, temp_pos + 6, self.t1, self.t2)
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einzelschritt(self.pwm3, 0, ges_schritte, temp_pos + 7, self.t1, self.t2)
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if self.halten == 1:
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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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self.pwm4.ChangeDutyCycle(0)
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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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#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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#print(str(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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