PI controller for continously rotating a stepper using the big easy driver in a background process on RPi
Python class for continuous rotation of a PI controller regulated stepper motor in a separate process
pip install ProcBigEasyDriver
Here's how this thing works. Once you initialize the object a second process is opened which toggles the step pin up and down at whatever interval is needed to reach to specified motor RPM. This is regulated by a PI controller. The speed and the microstepping regime used can be changed at anytime from the main process. The main process keeps control of the enable pin allowing the motor activity to be gated in the main process.
import ProcBigEasyDriver as pbed from time import sleep #Init a stepper that turns at 10 rpm with no microstepping Stepper = pbed.ProcBigEasyDriver(step, direction, ms1, ms2, ms3, enable, microstepping=1, rpm=10, steps_per_rev=200, Kp=0.2, Ki=0.1) #Enable the big easy driver FETs Stepper.enable() #Let it go for 10s sleep(10) #Change the microstepping Stepper.set_microstep(2) sleep(10) #Speed it up to 20 rpm Stepper.set_rpm(20) sleep(10) #Stop the wheel (but keep the object active) for 10s Stepper.disable() sleep(10) #Turn it back on Stepper.enable() sleep(10) #Stop the wheel and release the pins (kill the object) Stepper.stop()
Code was written and is maintained by (Matt Davenport)[https://github.com/mattisabrat/] (email@example.com)
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