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StepMotor_L298N.py
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StepMotor_L298N.py
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#!/usr/bin/env python3
import RPi.GPIO as GPIO
import time, readline # readline for input function
ENA = 18
ENB = 22
IN1 = 23
IN2 = 24
IN3 = 4
IN4 = 17
forward_seq = ["1010", "0110", "0101", "1001"]
reverse_seq = ["1001", "0101", "0110", "1010"]
def setStep(step):
GPIO.output(IN1, int(step[0]))
GPIO.output(IN2, int(step[1]))
GPIO.output(IN3, int(step[3]))
GPIO.output(IN4, int(step[4]))
def forward(delay, steps):
for i in range(0, steps):
for step in forward_seq:
setStep(step)
time.sleep(delay)
def backward(delay, steps):
for i in range(0, steps):
for step in reverse_seq:
setStep(step)
time.sleep(delay)
def setUp():
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM) # depend on your PIN's region
GPIO.setsetup(IN1, GPIO.OUT)
GPIO.setsetup(IN2, GPIO.OUT)
GPIO.setsetup(IN3, GPIO.OUT)
GPIO.setsetup(IN4, GPIO.OUT)
GPIO.setsetup(ENA, GPIO.OUT)
GPIO.setsetup(ENB, GPIO.OUT)
GPIO.output(ENA, True)
GPIO.output(ENB, True)
def stop():
setStep("0000")
def destroy():
GPIO.cleanup()
def loop():
print("start...")
print("input operation (forward/backward), steps and time delay")
print("(1 for forward, 2 for back ward)\nexampe: 1, 20 ,10 -> forward with 20 steps, 10 ms delay between each step")
while True:
try:
operation, step, delay = map(int, intput("operation, steps, delay:").split(","))
if operation == 1:
forward(delay*.001, step)
stop()
elif operation == 2:
backward(delay*0.001, step)
stop()
else:
print("no invaild operation!")
except KeyboardInterrupt:
destroy()
break
except:
print("invaild operation!")
if __name__ == "__main__":
setup()
loop()