#!/usr/bin/python
#import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_Stepper
from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_StepperMotor
import time
import atexit
# create a default object, no changes to I2C address or frequency
mh = Adafruit_MotorHAT()
# recommended for auto-disabling motors on shutdown!
def turnOffMotors():
mh.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
atexit.register(turnOffMotors)
# Define 2 stepper motors and set their speed.
StepperA = mh.getStepper(200, 1) # 200 steps/rev, motor port #1
StepperB = mh.getStepper(200, 1) # 200 steps/rev, motor port #1
StepperA.setSpeed(30) # 30 RPM
StepperB.setSpeed(30) # 30 RPM
try:
while True:
# wait for a command
steps = raw_input("How many steps? ")
# Determine direction from sign of step count
if (steps > 0):
dir = Adafruit_MotorHAT.FORWARD
print("forward"),
else:
dir = Adafruit_MotorHAT.BACKWARD
print("backward"),
# move both in unison - one step at a time
for i in range(int(abs(steps))):
StepperA.step(1, dir, DOUBLE)
StepperB.step(1, dir, DOUBLE)
# End program cleanly with keyboard
except KeyboardInterrupt:
print " Quit"
GPIO.cleanup()
[DEBUG ON]
>>>
[DEBUG OFF]
>>>
It never pasted the way it looks on the screen. Hopefully, someone can understand what is going on here.
Thanks,
Robert