pi_test_stepper/lib_stepper.py at master · benclewett/pi_test_stepper · GitHub

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import RPi.GPIO as GPIO
import time

#
#          1 1 1 1 1 1 2 2 2 2 3 3 3 3 3 4
#  2 4 6 8 0 2 4 6 8 0 2 4 6 8 0 2 4 6 8 0
# +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
# | | | | | | | | | | | | | | | | | | | | |
# +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
# | | | | | | | | | | | | | | | |A|B|C|D| |
# +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
#            1 1 1 1 1 2 2 2 2 2 3 3 3 3 3
#  1 3 5 7 9 1 3 5 7 9 1 3 5 7 9 1 3 5 7 9
#
# A : GPIO-06 : Pin 31 : Line 1 : Blue
# B : GPIO-13 : Pin 33 : Line 2 : Pink
# C : GPIO-19 : Pin 35 : Line 3 : Yellow
# D : GPIO-26 : Pin 37 : Line 4 : Orange
#

# https://tutorials-raspberrypi.com/how-to-control-a-stepper-motor-with-raspberry-pi-and-l293d-uln2003a/

GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)

# The correct mapping should be: Pink, Orange, Blue, Yellow
gpioPins = [13, 26, 6, 19]

# The sequence of pin energisation for a single step:
pinSequence = [[0,1,0,0], [0,1,0,1], [0,0,0,1], [1,0,0,1], [1,0,0,0], [1,0,1,0], [0,0,1,0], [0,1,1,0]]

for pin in gpioPins:
    GPIO.setup(pin, GPIO.OUT)

def setStep(step):
    GPIO.output(gpioPins[0], step[0])
    GPIO.output(gpioPins[1], step[1])
    GPIO.output(gpioPins[2], step[2])
    GPIO.output(gpioPins[3], step[3])
    return

def setNone():
    for i in range(4):
        GPIO.output(gpioPins[i], 0);
    return

def backwards(delay, steps):
    for i in range(steps):
        for j in range(len(pinSequence)):
            setStep(pinSequence[j])
            time.sleep(delay)
    setNone()
    return

def forwards(delay, steps):
    for i in range(steps):
        for j in reversed(range(len(pinSequence))):
            setStep(pinSequence[j])
            time.sleep(delay)
    setNone()
    return