Voilà mon problème :
J'essaye d'utiliser un moteur pas à pas avec ce code :
Code: Select all
#!/usr/bin/env python
# This code is written by Stephen C Phillips.
# It is in the public domain, so you can do what you like with it
# but a link to http://scphillips.com would be nice.
# It works on the Raspberry Pi computer with the standard Debian Wheezy OS and
# the 28BJY-48 stepper motor with ULN2003 control board.
from time import sleep
import RPi.GPIO as GPIO
class Motor(object):
def __init__(self, pins):
self.P1 = pins[0]
self.P2 = pins[1]
self.P3 = pins[2]
self.P4 = pins[3]
self.deg_per_step = 5.625 / 64
self.steps_per_rev = int(360 / self.deg_per_step) # 4096
self.step_angle = 0 # Assume the way it is pointing is zero degrees
for p in pins:
GPIO.setup(p, GPIO.OUT)
GPIO.output(p, 0)
def _set_rpm(self, rpm):
"""Set the turn speed in RPM."""
self._rpm = rpm
# T is the amount of time to stop between signals
self._T = (60.0 / rpm) / self.steps_per_rev
# This means you can set "rpm" as if it is an attribute and
# behind the scenes it sets the _T attribute
rpm = property(lambda self: self._rpm, _set_rpm)
def move_to(self, angle):
"""Take the shortest route to a particular angle (degrees)."""
# Make sure there is a 1:1 mapping between angle and stepper angle
target_step_angle = 8 * (int(angle / self.deg_per_step) / 8)
steps = target_step_angle - self.step_angle
steps = (steps % self.steps_per_rev)
if steps > self.steps_per_rev / 2:
steps -= self.steps_per_rev
print "moving " + `steps` + " steps"
self._move_acw(-steps / 8)
else:
print "moving " + `steps` + " steps"
self._move_cw(steps / 8)
self.step_angle = target_step_angle
def _move_acw(self, big_steps):
GPIO.output(self.P1, 0)
GPIO.output(self.P2, 0)
GPIO.output(self.P3, 0)
GPIO.output(self.P4, 0)
for i in range(big_steps):
GPIO.output(self.P1, 0)
sleep(self._T)
GPIO.output(self.P3, 1)
sleep(self._T)
GPIO.output(self.P4, 0)
sleep(self._T)
GPIO.output(self.P2, 1)
sleep(self._T)
GPIO.output(self.P3, 0)
sleep(self._T)
GPIO.output(self.P1, 1)
sleep(self._T)
GPIO.output(self.P2, 0)
sleep(self._T)
GPIO.output(self.P4, 1)
sleep(self._T)
def _move_cw(self, big_steps):
GPIO.output(self.P1, 0)
GPIO.output(self.P2, 0)
GPIO.output(self.P3, 0)
GPIO.output(self.P4, 0)
for i in range(big_steps):
GPIO.output(self.P3, 0)
sleep(self._T)
GPIO.output(self.P1, 1)
sleep(self._T)
GPIO.output(self.P4, 0)
sleep(self._T)
GPIO.output(self.P2, 1)
sleep(self._T)
GPIO.output(self.P1, 0)
sleep(self._T)
GPIO.output(self.P3, 1)
sleep(self._T)
GPIO.output(self.P2, 0)
sleep(self._T)
GPIO.output(self.P4, 1)
sleep(self._T)
if __name__ == "__main__":
GPIO.setmode(GPIO.BOARD)
m = Motor([18,22,24,26])
m.rpm = 5
print "Pause in seconds: " + `m._T`
m.move_to(90)
sleep(1)
m.move_to(0)
sleep(1)
m.move_to(-90)
sleep(1)
m.move_to(-180)
sleep(1)
m.move_to(0)
GPIO.cleanup()J'ai donc essayé d'ajouter la ligne : # -*- coding: utf-8 -*-
Mais rien à faire j'obtiens toujours la même erreur...
Quelqu'un aurait-il une idée ?
Merci d'avance
Alex