Page 7 of 16
Page 131
from machine import Pin, PWM
from time import sleep
class Motor:
def __init__(self, pinNo):
self.pwm1 = PWM(Pin(pinNo), freq=2000, duty_u16=0)
self.gpio = pinNo
self._on = False
self.speed=0
def setSpeed(self,s):
self._on=True
self.speed=s
self.pwm1.duty_u16(int(65535*s/100))
def off(self):
self._on=False
self.pwm1.duty_u16(0)
def on(self):
self._on=True
self.pwm1.duty_u16(int(65535*self.speed/100))
motor=Motor(4)
sleep(1)
motor.setSpeed(50)
sleep(1)
motor.off()
sleep(1)
motor.setSpeed(90)
sleep(1)
motor.off()
Page 136
from machine import Pin, PWM
from time import sleep
class Motor:
def __init__(self, pinNo):
self.pwm1 = PWM(Pin(pinNo), freq=2000, duty_u16=0)
self.gpio = pinNo
self._on = False
self.speed=0
def setSpeed(self,s):
self._on=True
self.speed=s
self.pwm1.duty_u16(int(65535*s/100))
def off(self):
self._on=False
self.pwm1.duty_u16(0)
def on(self):
self._on=True
self.pwm1.duty_u16(int(65535*self.speed/100))
class BiMotor(Motor):
def __init__(self, pinNo1,pinNo2):
super().__init__(pinNo1)
self.forward = True
self.pwm2 = PWM(Pin(pinNo2),freq=2000,duty_u16=0)
def setForward(self, forward):
if self.forward == forward:
return
self.pwm1.duty_u16(0)
self.pwm1, self.pwm2 = self.pwm2, self.pwm1
self.forward = forward
self.pwm1.duty_u16(int(65535 * self.speed / 100))
motor = BiMotor(16,17)
sleep(1)
motor.setSpeed(50)
sleep(1)
motor.setForward(False)
sleep(1)
motor.setSpeed(90)
sleep(1)
motor.setForward(True)
motor.off()
Page 139
from machine import Pin, PWM
from time import sleep
class Servo:
def __init__(self, pinNo):
self.pwm = PWM(Pin(pinNo),freq=50,duty_u16= int(65535*2.5/100))
def setPosition(self, p):
self.position = p
self.pwm.duty_u16(int(65535*p/1000 + 65535*2.5/100))
def off(self):
self.pwm.deinit()
servo=Servo(4)
sleep(1)
servo.setPosition(100.0)
sleep(1)
servo.setPosition(50.0)
sleep(1)
servo.setPosition(0)
sleep(1)
servo.off()
Page 146
from machine import Pin, mem32
from time import sleep_ms
class StepperBi4():
def __init__(self, pinA):
self.phase = 0
self.pinA = pinA
self.gpios = tuple([Pin(pinA, Pin.OUT),
Pin(pinA + 1, Pin.OUT),
Pin(pinA + 2, Pin.OUT),
Pin(pinA + 3, Pin.OUT)])
self.gpios[0].on()
self.gpioMask = 0xF << self.pinA
self.halfstepSeq = [0x1, 0x3, 0x2, 0x6, 0x4, 0xC, 0x8, 0x9]
# [
# [0,0,0,1],
# [0,0,1,1],
# [0,0,1,0],
# [0,1,1,0],
# [0,1,0,0],
# [1,1,0,0],
# [1,0,0,0],
# [1,0,0,1]
# ]
def _gpio_set(self,value, mask):
mem32[0x3FF44004] = mem32[0x3FF44004] & ~mask | value & mask
def setPhase(self, phase):
value = self.halfstepSeq[phase] << self.pinA
self._gpio_set(value, self.gpioMask)
self.phase = phase
def stepForward(self):
self.phase = (self.phase + 1) % 8
self.setPhase(self.phase)
def stepReverse(self):
self.phase = (self.phase - 1) % 8
self.setPhase(self.phase)
step = StepperBi4(16)
step.setPhase(0)
while True:
step.stepForward()
sleep_ms(1)
Page 151
from machine import Pin, mem32, Timer
from time import sleep_ms
class StepperBi4():
def __init__(self, pinA):
self.phase = 0
self.pinA = pinA
self.gpios = tuple([Pin(pinA, Pin.OUT),
Pin(pinA + 1, Pin.OUT),
Pin(pinA + 2, Pin.OUT),
Pin(pinA + 3, Pin.OUT)])
self.gpios[0].on()
self.gpioMask = 0xF << self.pinA
self.halfstepSeq = [0x1, 0x3, 0x2, 0x6, 0x4, 0xC, 0x8, 0x9]
self.timer = None
self.forward = True
# [
# [0,0,0,1],
# [0,0,1,1],
# [0,0,1,0],
# [0,1,1,0],
# [0,1,0,0],
# [1,1,0,0],
# [1,0,0,0],
# [1,0,0,1]
# ]
def _gpio_set(self,value, mask):
mem32[0x3FF44004] = mem32[0x3FF44004] & ~mask | value & mask
def setPhase(self, phase):
value = self.halfstepSeq[phase] << self.pinA
self._gpio_set(value, self.gpioMask)
self.phase = phase
def stepForward(self):
self.phase = (self.phase + 1) % 8
self.setPhase(self.phase)
def stepReverse(self):
self.phase = (self.phase - 1) % 8
self.setPhase(self.phase)
def doRotate(self, timer):
if self.forward:
self.stepForward()
else:
self.stepReverse()
def rotate(self, forward, speed):
self.forward = forward
self.speed = speed
if speed == 0:
self.timer.deinit()
self.timer = None
return
if self.timer == None:
self.timer = Timer(0)
self.timer.init(freq = speed, mode = Timer.PERIODIC, callback = self.doRotate)
step=StepperBi4(16)
step.setPhase(0)
while True:
step.rotate(True,100)
sleep_ms(500)
step.rotate(True,0)
sleep_ms(500)
