Create stepper.py

Author: ant-thomas

stepper.py

@@ -0,0 +1,57 @@
+import RPi.GPIO as GPIO
+import time
+import sys
+
+GPIO.setmode(GPIO.BCM)
+GPIO.setwarnings(False)
+
+enable_pin = 18
+coil_A_1_pin = 4
+coil_A_2_pin = 17
+coil_B_1_pin = 23
+coil_B_2_pin = 24
+
+GPIO.setup(enable_pin, GPIO.OUT)
+GPIO.setup(coil_A_1_pin, GPIO.OUT)
+GPIO.setup(coil_A_2_pin, GPIO.OUT)
+GPIO.setup(coil_B_1_pin, GPIO.OUT)
+GPIO.setup(coil_B_2_pin, GPIO.OUT)
+
+GPIO.output(enable_pin, 1)
+
+def forward(delay, steps):
+  for i in range(0, steps):
+    setStep(1, 0, 1, 0)
+    time.sleep(delay)
+    setStep(0, 1, 1, 0)
+    time.sleep(delay)
+    setStep(0, 1, 0, 1)
+    time.sleep(delay)
+    setStep(1, 0, 0, 1)
+    time.sleep(delay)
+    
+def backwards(delay, steps):
+  for i in range(0, steps):
+    setStep(1, 0, 0, 1)
+    time.sleep(delay)
+    setStep(0, 1, 0, 1)
+    time.sleep(delay)
+    setStep(0, 1, 1, 0)
+    time.sleep(delay)
+    setStep(1, 0, 1, 0)
+    time.sleep(delay)
+
+def setStep(w1, w2, w3, w4):
+  GPIO.output(coil_A_1_pin, w1)
+  GPIO.output(coil_A_2_pin, w2)
+  GPIO.output(coil_B_1_pin, w3)
+  GPIO.output(coil_B_2_pin, w4)
+
+delay = sys.argv[1]
+steps = sys.argv[2]
+direction = sys.argv[3]
+
+if direction == 'f':
+   forward(int(delay) / 1000.0, int(steps))
+elif direction == 'b':
+   backwards(int(delay) / 1000.0, int(steps))