RPistepper 0.3a1

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连接RPI-ULN2803A:

连接ULN2803A-电机：

在这种情况下，两个电机连接到ULN2803A。

类电机

此类允许用户使用4 GPIO控制6针步进电机 RPI的引脚。

软件采用BCM模式进行PIN标引。

此类最好与“with”语句一起使用，以正确处理 清除GPIO。

self.steps是此类的一个属性，它将获取步骤数 从初始位置开始或设置到特定步骤，类似于 自我。行动。

为了节省能源，建议在 马达空转。

参数是一个带有4个管脚的列表（线圈A1，线圈A2，线圈B1， coil_b2），步骤之间的延迟（默认值为20毫秒）和详细到 显示马达运动报告，最后两个是可选的。例如：

importRPistepperasstpM1_pins=[17,27,10,9]withstp.Motor(M1_pins)asM1:foriinrange(10):# moves 20 steps,release and waitprintM1M1.move(20)M1.release()raw_input('enter to execute next step')

如果类是正常实例化的，请使用cleanupprior方法 关闭应用程序以关闭GPIO资源。还有，如果是 重要的是在完成例行程序时回到初始位置， 使用方法reset。

importRPistepperasstpM1_pins=[17,27,10,9]M1=stp.Motor(M1_pins)foriinrange(10):# moves 20 steps,release and waitprintM1M1.move(20)M1.release()raw_input('enter to execute next step')M1.reset()M1.cleanup()

方法

目前有五种实现方法：

defmove(self,steps):'''
    Moves the motor 'steps' steps. Negative steps moves the motor backwards
    '''

defrelease(self):'''
    Sets all pins low. Power saving mode
    '''

defreset(self):'''
    Returns the motor to it's initial position
    '''

defzero(self):'''
    Sets the motor to the next position which Coil_A1 and Coil_A2
    are on. Sets this position as the reference (steps = 0).
    '''

defcleanup(self):'''
    Cleans the GPIO resources
    '''

主要的方法是move，它将电机移动到所需的 步骤

步骤属性

可以检查电机位置或手动设置所需的 使用steps属性的步骤：

importRPistepperasstpM1_pins=[17,27,10,9]withstp.Motor(M1_pins)asM1:foriinrange(10):# moves 20 steps,release and waitprintM1.stepsM1.steps=20*iM1.release()raw_input('enter to execute next step')M1.reset()

属性

此类具有以下属性：

defzig_zag(motor1,motor2,amp1,amp2,delay=None):'''
    Executes a zig-zag movement with two RPistepper objects.
    Arguments are: motor1 and motor2 objects and amp1, amp2, the amplitude
    of movement, a tuple (step, rep) representing the number of steps per
    iteration and the number of iterations of the following algorithm:
        Repeat rep1 times:
            1. Moves motor 2 step2*rep2 steps forward
            2. Moves motor 1 step1 steps forward
            3. Moves motor 2 step2*rep2 steps backwards
            4. Moves motor 1 step1 steps forward
        Reset to initial state
        Release the motors
    It's possible to change the delay between steps with the 'delay' argument
    '''

defsquare_spiral(motor1,motor2,amplitude,delay=None):'''
    Executes a square spiral movement with two RPistepper objects.
    Arguments are: motor1 and motor2 objects and the amplitude of movement,
    a tuple (step, rep) representing the number of steps per iteration and
    the number of iterations of the following algorithm:
        for i in range(rep):
            1. Moves motor 2 to position i
            2. Moves motor 1 to position i
            3. Moves motor 1 to position -i
            4. Moves motor 2 to position -i
        Reset to initial state
        Release the motors
    It's possible to change the delay between steps with the 'delay' argument
    '''