raspberrypi3DGcodeinterpreter/Motor_control_new.py at master · jayhopeter/raspberrypi3DGcodeinterpreter · GitHub

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import RPi.GPIO as GPIO
import time
from Bipolar_Stepper_Motor_Class_new import Bipolar_Stepper_Motor
from numpy import abs,sqrt,float

def sign(a): #return the sign of number a
    if a > 0:
        return 1
    elif a < 0:
        return -1
    else:
        return 0

def Single_Motor_Step(stepper, step, speed=100):
#   control stepper motor 1 and 2 simultaneously
#   stepper1 and stepper2 are objects of Bipolar_Stepper_Motor class
#   direction is reflected in the polarity of [step1] or [step2]

    dir1 = sign(step)  #get dirction from the polarity of argument [step]

    step = abs(step)

    #T = step / speed      #total time
    #dt = T / step                #time delay every micro_step
    stepper.move(dir1,step,1/speed) # don't pass dt here, not working for Z Axis have to figure out why?

    return 0

def Motor_Step(stepper1, step1, stepper2, step2, speed):
#   control stepper motor 1 and 2 simultaneously
#   stepper1 and stepper2 are objects of Bipolar_Stepper_Motor class
#   direction is reflected in the polarity of [step1] or [step2]

    dir1 = sign(step1)  #get dirction from the polarity of argument [step]
    dir2 = sign(step2)

    step1 = abs(step1)
    step2 = abs(step2)

    iterator = max(step1, step2)

    T = sqrt(step1 ** 2 + step2 ** 2) / speed      #total time
    dt = T / (step1 + step2)                #time delay every micro_step

    #Setup the Ratio Values.
    M1Ratio = float(step1) / float(iterator)
    M2Ratio = float(step2) / float(iterator)

    M1Holder = float(0)
    M2Holder = float(0)

    M1ctr = 0
    M2ctr = 0

    for i in range(0, iterator):
        M1Holder = float(M1Holder) + float(M1Ratio)
        M2Holder = float(M2Holder) + float(M2Ratio)

        if(M1Holder >= 1):
            M1Holder = float(M1Holder) - 1
            stepper1.move(dir1,1,dt)
            M1ctr = M1ctr + 1

        if(M2Holder >= 1):
            M2Holder = float(M2Holder) - 1
            stepper2.move(dir2,1,dt)
            M2ctr = M2ctr + 1

	#clean-up any missed or over steps...
    if(M1ctr < step1):
            stepper1.move(dir1,1,dt)
    if(M2ctr < step2):
            stepper2.move(dir2,1,dt)
   	#overstep?
    if(M1ctr > step1):
            stepper1.move(dir1 * -1,1,dt)
    if(M2ctr > step2):
            stepper2.move(dir2 * -1,1,dt)
    return 0

def Motor_StepThree(stepper1, step1, stepper2, step2,stepper3,step3, speed):
#   control stepper motor 1 and 2 simultaneously
#   stepper1 and stepper2 are objects of Bipolar_Stepper_Motor class
#   direction is reflected in the polarity of [step1] or [step2]

    dir1 = sign(step1)  #get dirction from the polarity of argument [step]
    dir2 = sign(step2)
    dir3 = sign(step3)

    step1 = abs(step1)
    step2 = abs(step2)
    step3 = abs(step3)

    iterator = max(step1, step2, step3)

    T = sqrt(step1 ** 2 + step2 ** 2) / speed      #total time
    dt = T / (step1 + step2)                #time delay every micro_step

    #Setup the Ratio Values.
    M1Ratio = float(step1) / float(iterator)
    M2Ratio = float(step2) / float(iterator)
    M3Ratio = float(step3) / float(iterator)

    M1Holder = float(0)
    M2Holder = float(0)
    M3Holder = float(0)

    M1ctr = 0
    M2ctr = 0
    M3ctr = 0

    for i in range(0, iterator):
        M1Holder = float(M1Holder) + float(M1Ratio)
        M2Holder = float(M2Holder) + float(M2Ratio)
        M3Holder = float(M3Holder) + float(M3Ratio)

        if(M1Holder >= 1):
            M1Holder = float(M1Holder) - 1
            stepper1.move(dir1,1,dt)
            M1ctr = M1ctr + 1

        if(M2Holder >= 1):
            M2Holder = float(M2Holder) - 1
            stepper2.move(dir2,1,dt)
            M2ctr = M2ctr + 1

        if(M3Holder >= 1):
            M3Holder = float(M3Holder) - 1
            stepper3.move(dir3,1)
            M3ctr = M3ctr + 1

	#clean-up any missed or over steps...
    if(M1ctr < step1):
            stepper1.move(dir1,1,dt)
    if(M2ctr < step2):
            stepper2.move(dir2,1,dt)
    if(M3ctr < step3):
            stepper3.move(dir3,1)
	#overstep?
    if(M1ctr > step1):
            stepper1.move(dir1 * -1,1,dt)
    if(M2ctr > step2):
            stepper2.move(dir2 * -1,1,dt)
    if(M3ctr > step3):
            stepper3.move(dir3 * -1,1)
    return 0