38 lines
1.4 KiB
Python
38 lines
1.4 KiB
Python
#!/usr/bin/python
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#import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_Stepper
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from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_StepperMotor
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import time
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import atexit
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# create a default object, no changes to I2C address or frequency
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mh = Adafruit_MotorHAT()
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# recommended for auto-disabling motors on shutdown!
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def turnOffMotors():
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mh.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
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mh.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
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mh.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
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mh.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
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atexit.register(turnOffMotors)
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myStepper = mh.getStepper(200, 1) # 200 steps/rev, motor port #1
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myStepper.setSpeed(30) # 30 RPM
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while (True):
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print("Single coil steps")
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myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.SINGLE)
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myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.SINGLE)
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print("Double coil steps")
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myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.DOUBLE)
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myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.DOUBLE)
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print("Interleaved coil steps")
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myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.INTERLEAVE)
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myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.INTERLEAVE)
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print("Microsteps")
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myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.MICROSTEP)
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myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.MICROSTEP)
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