https://github.com/larsks/micropython-stepper-motor

https://github.com/larsks/micropython-stepper-motor

Last synced: 2 months ago
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• Host: GitHub
• URL: https://github.com/larsks/micropython-stepper-motor
• Owner: larsks
• Created: 2020-12-21T18:54:05.000Z (over 3 years ago)
• Default Branch: master
• Last Pushed: 2020-12-24T04:29:09.000Z (over 3 years ago)
• Last Synced: 2024-01-28T08:11:04.529Z (5 months ago)
• Language: Python
• Size: 7.81 KB
• Stars: 8
• Watchers: 4
• Forks: 4
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

Lists

• awesome-micropython - micropython-stepper-motor - Drive a 28BYJ-48 motor attached to a ULN2003 driver. (Libraries / Motion)

README

        
# MicroPython Stepper Motor Driver

Code to drive a 28BYJ-48 motor attached to a ULN2003 driver.

## Overview

The module `motor.py` implements the following classes:

- `FullStepMotor` -- This class drives a stepper motor using full steps, which

  with the 28BYJ-48 means 2048 steps for a single rotation.

- `HalfStepMotor` -- This class drives a stepper motor using half steps, so

  4096 steps for a single rotation.

## API

Motor objects support the following methods:

- `zero()` -- set the current position as position 0.

- `step(n)` -- move forward (positive `n`) or backwards (negative `n`) the given number of steps

- `step_until(position)` -- move motor to the given position. By default the motor will move in the shortest direction, but you can force a direction with the optional `dir` keyword argument (`1` for forward, `-1` for reverse).

- `step_until_angle(angle)` -- move motor to the given angle.

## Examples

If you have a ULN2003 connected to a Wemos D1 on pins D5, D6, D7, D8,

like this ([pinout][]):

[pinout]: https://escapequotes.net/esp8266-wemos-d1-mini-pins-and-diagram/

| Wemos pin   | ULN2003 pin |

| ----------- | ----------- |

| D5 (GPIO14) | IN1 |

| D6 (GPIO12) | IN2 |

| D7 (GPIO13) | IN3 |

| D8 (GPIO15) | IN4 |

Then you could create a `HalfStepMotor` object like this:

```

import motor

m = motor.HalfStepMotor.frompins(14,12,13,15)

```

Once you have a motor object, you can run it forward:

```

m.step(500)

```

Or backwards:

```

m.step(-500)

```

You can run it to a specific position:

```

m.step_until(2000)

```

Or to a specific angle:

```

m.step_until_angle(270)

```

When using the `step_until*` methods, the motor will by default move

in the direction of shortest distance. You can force a direction with

the optional `dir` keyword argument:

```

m.step_until(2000, dir=-1)

```