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47 lines
1.4 KiB
Python
47 lines
1.4 KiB
Python
import RPi.GPIO as GPIO
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from RpiMotorLib import RpiMotorLib
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import time
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import sys
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import threading
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# Motor pins
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stepLeft = 22
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dirLeft = 23
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enableLeft = 24
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stepRight = 25
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dirRight = 26
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enableRight = 27
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def init():
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GPIO.setup(enableLeft, GPIO.OUT)
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GPIO.setup(enableRight, GPIO.OUT)
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motorLeft = RpiMotorLib.A4988Nema(dirLeft, stepLeft, (21,21,21), "DRV8825")
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motorRight = RpiMotorLib.A4988Nema(dirRight, stepRight, (21,21,21), "DRV8825")
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def drive():
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GPIO.output(enableLeft, GPIO.LOW)
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motorLeft.motor_go(False, # True=Clockwise, False=Counter-Clockwise
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"Full" , # Step type (Full,Half,1/4,1/8,1/16,1/32)
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200, # number of steps
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.0005, # step delay [sec]
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False, # True = print verbose output
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.05) # initial delay [sec]
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GPIO.output(enableLeft, GPIO.HIGH)
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GPIO.output(enableRight, GPIO.LOW)
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motorRight.motor_go(False, # True=Clockwise, False=Counter-Clockwise
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"Full" , # Step type (Full,Half,1/4,1/8,1/16,1/32)
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200, # number of steps
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.0005, # step delay [sec]
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False, # True = print verbose output
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.05) # initial delay [sec]
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GPIO.output(enableRight, GPIO.HIGH)
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def shutdown():
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GPIO.cleanup() # clear GPIO allocations after run
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if __name__ == '__main__':
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globals()[sys.argv[1]]()
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