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adafruit_motor/stepper.py

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -82,6 +82,7 @@
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(0, 0, 0, 1),
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)
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85+
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class StepperMotor:
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"""A bipolar stepper motor or four coil unipolar motor. The use of microstepping requires
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pins that can output PWM. For non-microstepping, set `microsteps` to `None` and use either
@@ -123,7 +124,7 @@ def __init__(self, ain1, ain2, bin1, bin2, *, microsteps=16):
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#
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# PWM Pins
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#
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#set a safe pwm freq for each output
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# set a safe pwm freq for each output
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self._coil = (ain2, bin1, ain1, bin2)
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for i in range(4):
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if self._coil[i].frequency < 1500:

examples/motor_servo_digitalio.py

Lines changed: 5 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -10,17 +10,16 @@
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STEPS = 200
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coils = (
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digitalio.DigitalInOut(board.D19), # A1
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digitalio.DigitalInOut(board.D26), # A2
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digitalio.DigitalInOut(board.D20), # B1
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digitalio.DigitalInOut(board.D21), # B2
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digitalio.DigitalInOut(board.D19), # A1
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digitalio.DigitalInOut(board.D26), # A2
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digitalio.DigitalInOut(board.D20), # B1
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digitalio.DigitalInOut(board.D21), # B2
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)
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for coil in coils:
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coil.direction = digitalio.Direction.OUTPUT
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motor = stepper.StepperMotor(coils[0], coils[1], coils[2], coils[3],
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microsteps=None)
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motor = stepper.StepperMotor(coils[0], coils[1], coils[2], coils[3], microsteps=None)
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for step in range(STEPS):
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motor.onestep()

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