Content-Length: 3243 | pFad | http://github.com/micropython/micropython-lib/pull/932.patch

thub.com From ba54bd8665b3a7f7ba23cd6a26e2b126629fe928 Mon Sep 17 00:00:00 2001 From: Anshuflame04 Date: Mon, 28 Oct 2024 01:43:32 +0530 Subject: [PATCH] drivers/a4988: Added A4988 stepper motor driver for esp32. Signed-off-by: Anshuflame04 --- micropython/drivers/a4988/a4988.py | 53 +++++++++++++++++++++++++++ micropython/drivers/a4988/manifest.py | 1 + 2 files changed, 54 insertions(+) create mode 100644 micropython/drivers/a4988/a4988.py create mode 100644 micropython/drivers/a4988/manifest.py diff --git a/micropython/drivers/a4988/a4988.py b/micropython/drivers/a4988/a4988.py new file mode 100644 index 000000000..01bc9eb67 --- /dev/null +++ b/micropython/drivers/a4988/a4988.py @@ -0,0 +1,53 @@ +import time + +# Constants +STEPS_PER_REV = 200 # Number of steps per motor revolution +MIN_DELAY = 0.001 # Minimum delay between steps (controls maximum speed) + +class A4988: + def __init__(self, step_pin, dir_pin, en_pin=None): + self.step_pin = step_pin + self.dir_pin = dir_pin + self.en_pin = en_pin + if self.en_pin is not None: + self.enable_motor(enabled=True) + + def enable_motor(self, enabled=True): + """Enable or disable the motor driver (active low).""" + if self.en_pin: + self.en_pin.value(0 if enabled else 1) + + def step_motor(self, steps=STEPS_PER_REV, direction=1, delay=0.005): + """Move the motor a specified number of steps in the given direction.""" + self.dir_pin.value(direction) # Set direction (1 = forward, 0 = backward) + for _ in range(steps): + self.step_pin.value(1) + time.sleep(delay) + self.step_pin.value(0) + time.sleep(delay) + + def calculate_speed(self, current_delay): + """Calculate the current speed in steps per second and RPM.""" + if current_delay <= 0: + return 0, 0 + steps_per_second = 1 / (2 * current_delay) # Delay is for each half-step + rpm = (steps_per_second / STEPS_PER_REV) * 60 # Convert to RPM + return steps_per_second, rpm + + def inc_speed(self, current_delay): + """Decrease delay to increase speed, respecting minimum delay limit.""" + new_delay = max(current_delay - 0.001, MIN_DELAY) + return new_delay + + def dec_speed(self, current_delay): + """Increase delay to decrease speed.""" + new_delay = current_delay + 0.001 + return new_delay + + def forward_motion(self, steps=STEPS_PER_REV, delay=0.005): + """Move motor forward for a given number of steps and delay.""" + self.step_motor(steps=steps, direction=1, delay=delay) + + def backward_motion(self, steps=STEPS_PER_REV, delay=0.005): + """Move motor backward for a given number of steps and delay.""" + self.step_motor(steps=steps, direction=0, delay=delay) diff --git a/micropython/drivers/a4988/manifest.py b/micropython/drivers/a4988/manifest.py new file mode 100644 index 000000000..2ebb7c1f7 --- /dev/null +++ b/micropython/drivers/a4988/manifest.py @@ -0,0 +1 @@ +metadata(description="MicroPython driver for A4988 stepper motor controller", version="1.0.0")

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