add stepper 2, shutdown control
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brentru
parent
256135bd13
commit
7d212aa27a
1 changed files with 61 additions and 26 deletions
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@ -39,10 +39,19 @@ ADAFRUIT_IO_USERNAME = ''
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# Create an instance of the REST client.
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aio = Client(ADAFRUIT_IO_USERNAME, ADAFRUIT_IO_KEY)
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# Stepper 1 Speed Feed
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# Delay between checking for new stepper slider value on Adafruit IO, in seconds
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ADAFRUIT_IO_DELAY = 15
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# Stepper 1 Adafruit IO Feeds
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feed_step_1_steps = aio.feeds('stepper1steps')
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feed_step_1_direction = aio.feeds('stepper1direction')
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feed_step_1_step_size = aio.feeds('stepper1stepsize')
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# Stepper 2 Adafruit Feeds
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feed_step_2_steps = aio.feeds('stepper2steps')
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feed_step_2_direction = aio.feeds('stepper2direction')
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feed_step_2_step_size = aio.feeds('stepper2stepsize')
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# Shutdown Feed
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feed_stepper_shutdown = aio.feeds('steppershutdown')
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# create a default object, no changes to I2C address or frequency
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kit = MotorKit()
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@ -59,20 +68,6 @@ def turnOffMotors():
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atexit.register(turnOffMotors)
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stepstyles = [STEPPER.SINGLE, STEPPER.DOUBLE, STEPPER.INTERLEAVE, STEPPER.MICROSTEP]
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#TODO: Save previous state of stepper1/stepper2 IO RX's
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# TODO: Fetch this data every 30sec
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# Get stepper 1 configuration from IO
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stepper1_steps = aio.receive(feed_step_1_steps.key)
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stepper1_steps = int(stepper1_steps.value)
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stepper_1_direction = aio.receive(feed_step_1_direction.key)
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stepper1_step_size = aio.receive(feed_step_1_step_size.key)
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print('Stepper 1 Configuration (from IO)')
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print("%d steps" % stepper1_steps)
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print('Step Size: ', stepper1_step_size.value)
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print('Stepper Direction: ', stepper_1_direction.value)
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def stepper_worker(stepper, numsteps, direction, stepper_name, style, show_steps=False):
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print("Steppin!")
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stepper_steps = numsteps
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@ -85,19 +80,31 @@ def stepper_worker(stepper, numsteps, direction, stepper_name, style, show_steps
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aio.send(feed_step_1_steps.key, stepper_steps)
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time.sleep(0.30)
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print("Done using ", stepper_name)
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if stepper_name == "Stepper 1":
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aio.send(feed_step_1_steps.key, 0)
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elif stepper_name == "Stepper 2":
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aio.send(feed_step_2_steps.key, 0)
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while True:
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# Stepper 1 Adafruit IO Configuration
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# Retrieve Data from Adafruit IO
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# Stepper Shutdown
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is_shutdown = aio.receive(feed_stepper_shutdown.key)
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if is_shutdown.value == 1:
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print('* SHUTTING OFF BOTH STEPPER MOTORS *')
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turnOffMotors()
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# Stepper 1
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if not st1.isAlive(): # if thread is killed
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print('Retrieving Stepper 1 Config from IO...')
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stepper1_steps = aio.receive(feed_step_1_steps.key)
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stepper1_steps = int(stepper1_steps.value)
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if stepper1_steps is not 0: # check against if the feed value is 0
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stepper_1_steps = aio.receive(feed_step_1_steps.key)
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stepper_1_steps = int(stepper_1_steps.value)
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if stepper_1_steps is not 0: # check against if the feed value is 0
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stepper_1_direction = aio.receive(feed_step_1_direction.key)
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stepper1_step_size = aio.receive(feed_step_1_step_size.key)
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stepper_1_step_size = aio.receive(feed_step_1_step_size.key)
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print('Stepper 1 Configuration (from IO)')
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print("%d steps" % stepper1_steps)
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print('Step Size: ', stepper1_step_size.value)
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print("%d steps" % stepper_1_steps)
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print('Step Size: ', stepper_1_step_size.value)
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print('Stepper Direction: ', stepper_1_direction.value)
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stepper_name = "Stepper 1"
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# Set Stepper Direction
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@ -109,12 +116,40 @@ while True:
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print("backward")
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# Stepper 1 Thread
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st1 = threading.Thread(target=stepper_worker, args=(kit.stepper1,
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stepper1_steps,
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stepper_1_steps,
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move_dir,
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stepper_name,
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stepstyles[STEPPER.SINGLE],))
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st1.start()
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# poll for new data every 30sec to avoid Adafruit IO Timeouts
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print('delaying...')
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time.sleep(30)
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# Stepper 2
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if not st2.isAlive(): # if thread is killed
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print('Retrieving Stepper 2 Config from IO...')
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stepper_2_steps = aio.receive(feed_step_2_steps.key)
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stepper_2_steps = int(stepper_2_steps.value)
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if stepper_2_steps is not 0: # check against if the feed value is 0
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stepper_2_direction = aio.receive(feed_step_2_direction.key)
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stepper_2_step_size = aio.receive(feed_step_2_step_size.key)
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print('Stepper 2 Configuration (from IO)')
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print("%d steps" % stepper_2_steps)
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print('Step Size: ', stepper_2_step_size.value)
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print('Stepper Direction: ', stepper_2_direction.value)
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stepper_name = "Stepper 2"
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# Set Stepper Direction
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if stepper_2_direction.value == 'Forward':
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move_dir = STEPPER.FORWARD
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print("forward")
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elif stepper_2_direction.value == 'Backward':
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move_dir = STEPPER.BACKWARD
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print("backward")
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# Stepper 2 Thread
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st2 = threading.Thread(target=stepper_worker, args=(kit.stepper2,
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stepper_2_steps,
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move_dir,
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stepper_name,
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stepstyles[STEPPER.SINGLE],))
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st2.start()
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# poll for new data every 30sec to avoid Adafruit IO Timeouts
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print('delaying checking Adafruit IO for %d seconds...' % ADAFRUIT_IO_DELAY)
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time.sleep(ADAFRUIT_IO_DELAY)
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