395 lines
10 KiB
Python
395 lines
10 KiB
Python
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:
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t2 = MoveV('m2', pwm1_m2, pwm2_m2, pwm3_m2, pwm4_m2, int(steps_m2), t1_m2, t2_m2, 1)
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else:
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t2 = MoveR('m2', pwm1_m2, pwm2_m2, pwm3_m2, pwm4_m2, int(steps_m2), t1_m2, t2_m2, 1)
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if int(steps_m3) > 0:
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t3 = MoveV('m3', pwm1_m3, pwm2_m3, pwm3_m3, pwm4_m3, int(steps_m3), t1_m3, t2_m3, 0)
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else:
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t3 = MoveR('m3', pwm1_m3, pwm2_m3, pwm3_m3, pwm4_m3, int(steps_m3), t1_m3, t2_m3, 0)
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t1.join()
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t2.join()
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t3.join()
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except KeyboardInterrupt:
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print("Ctl C pressed - ending program")
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#pwm.stop()
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GPIO.cleanup()
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#fertig
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#if __name__ == '__main__':
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# while True:
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# test = raw_input('Test') |