修改步进电机接口、通讯方式和EMV的接口
This commit is contained in:
@ -4,15 +4,17 @@
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# @Time : 2026/1/9 10:45
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# @Author : reenrr
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# @File : RK1106_server.py
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# @Desc : RK1106服务端，等待工控机调用
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# @Desc : RK1106服务端，等待工控机调用 通信为JSON格式
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'''
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import socket
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import logging
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import sys
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from test import motor_demo
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import json
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from stepper_motor import motor_start, align_wire, cleanup, motor_stop
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# --------日志配置（终端+文件双输出）--------------
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# ------------日志配置（终端+文件双输出）--------------
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logging.basicConfig(
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level=logging.INFO,
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format='%(asctime)s - %(levelname)s - %(message)s',
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@ -30,88 +32,177 @@ logging.basicConfig(
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)
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# --------配置TCP服务端----------
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HOST = "127.0.0.1"
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HOST = "192.168.0.100"
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PORT = 8888
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# 程序映射表（指令表示 -> 执行函数）
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PROG_MAP = {
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# "STEPPER_TEST": motor_test_demo,
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"test": motor_demo
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# 全局参数缓存
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MOTOR_CONFIG = {
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"speed": 2500, # 默认速度
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"cycle": 10.0, # 默认旋转圈数
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}
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def parse_command(cmd_str: str) ->tuple[str, dict]:
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def handle_setting(para_type: str, para_value: str) ->dict:
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"""
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解析工控机发送的指令字符串
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:param cmd_str: 指令字符串
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:return: 指令名称，参数字典
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处理客户端发送的参数设置指令（cmd:"setting"），更新全局电机配置
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:param para_type: 要设置的参数类型，仅支持"speed"或"cycle"
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:param para_value: 参数值字符串，将尝试转换为int(speed)或float(cycle)
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:return: 标准化相应字典dict,如：
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{
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"Result": "1"表示成功，"0"表示失败,
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"ErrMsg": str # 成功提示或错误详情
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}
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"""
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# 空指令处理
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if not cmd_str or cmd_str.strip() == "":
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return "", {}
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try:
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if para_type == "speed":
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MOTOR_CONFIG["speed"] = int(para_value)
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elif para_type == "cycle":
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MOTOR_CONFIG["cycle"] = float(para_value)
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else:
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return {"Result": "0", "ErrMsg": f"不支持的参数类型: {para_type}"}
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return {"Result": "1", "ErrMsg": "设置成功"}
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except ValueError as e:
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return {"Result": "0", "ErrMsg": f"参数值格式错误: {str(e)}"}
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# 分割指令标识和参数
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cmd_parts = cmd_str.strip().split("|", 1)
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prog_id = cmd_parts[0].strip()
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params = {}
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def handle_start(para_type: str, para_value: str) -> dict:
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"""
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处理启动电机指令（cmd: "start"),使用当前MOTOR_CONFIG配置运行电机
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:param para_type:为"direction"时，使用"para_value"作为临时方向
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:param para_value:为0或1
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:return: 标准化相应字典dict,如：
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{
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"Result": "1"表示成功，"0"表示失败,
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"ErrMsg": str #执行结果或异常信息
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}
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"""
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try:
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if para_type == "direction":
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direction = int(para_value)
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if direction not in (0,1):
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return {"Result": "0", "ErrMsg": "方向必须为0或1"}
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# 解析参数（格式：param1=val1¶m2=val2）
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if len(cmd_parts) > 1 and cmd_parts[1].strip() != "":
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param_str = cmd_parts[1].strip()
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param_pairs = param_str.split("&")
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for pair in param_pairs:
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if "=" in pair:
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key, value = pair.split("=", 1) # 处理值中含=的情况
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# 类型自动转换（数字/字符串）
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try:
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params[key.strip()] = int(value.strip())
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except ValueError:
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try:
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params[key.strip()] = float(value.strip())
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except ValueError:
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params[key.strip()] = value.strip()
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motor_start(speed=MOTOR_CONFIG["speed"],
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cycle=MOTOR_CONFIG["cycle"],
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direction=direction)
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dir_str = "正向" if direction == 1 else "负向"
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return {"Result": "1", "ErrMsg": f"电机启动成功（{dir_str}）"}
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else:
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return {"Result": "0", "ErrMsg": "start 指令仅支持'direction'"}
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except Exception as e:
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return {"Result": "0", "ErrMsg": f"电机启动失败:{str(e)}"}
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def handle_stop() -> dict:
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"""
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处理停止电机指令（cmd: "stop")
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:return: 标准化相应字典dict,如：
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{
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"Result": "1"表示成功，"0"表示失败,
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"ErrMsg": str #执行结果或异常信息
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}
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"""
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try:
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motor_stop()
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return {"Result": "1", "ErrMsg": "电机已停止"}
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except Exception as e:
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return {"Result": "0", "ErrMsg": f"电机停止失败:{str(e)}"}
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def handle_align() -> dict:
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"""
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处理线条对齐（挡板一来一回）
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:return: dict
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"""
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try:
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align_wire(MOTOR_CONFIG['speed'], MOTOR_CONFIG['cycle'])
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return {"Result": "1", "ErrMsg": "处理线条对齐"}
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except Exception as e:
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return {"Result": "0", "ErrMsg": "线条对齐失败"}
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def parse_json_command(data: str) -> dict:
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"""
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解析客户端发送的原始JSON字符串指令，并分发至对应处理函数
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:param data: 客户端发送的原始JSON字符串
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:return dict:标准化响应字典
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"""
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try:
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cmd_obj = json.loads(data.strip())
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except json.JSONDecodeError as e:
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return {"Result": "0", "ErrMsg": f"JSON 格式错误: {str(e)}"}
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cmd = cmd_obj.get("cmd", "").strip()
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para_type = cmd_obj.get("para_type", "").strip()
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para_value = cmd_obj.get("para_value", "").strip()
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if cmd == "setting":
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return handle_setting(para_type, para_value)
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elif cmd == "start":
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return handle_start(para_type, para_value)
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elif cmd == "stop":
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if para_type == "none" and para_value == "none":
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return handle_stop()
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else:
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return {"Result": "0", "ErrMsg": "stop指令参数必须为none"}
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elif cmd == "alignment":
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if para_type == "none" and para_value == "none":
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return handle_align()
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else:
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return {"Result": "0", "ErrMsg": "alignment指令参数必须为none"}
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else:
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return {"Result": "0", "ErrMsg": f"未知指令：{cmd}"}
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return prog_id, params
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# ----------对外接口----------
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def server():
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"""启动TCP服务端，监听指定端口，接收工控机连接并循环处理JSON指令"""
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# 创建TCP socket
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with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as server_socket:
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# 允许端口复用
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server_socket = None
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conn = None
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try:
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server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
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server_socket.bind((HOST, PORT))
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server_socket.listen(1) # 只允许1个工控机连接
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logging.info(f"[1106] 服务已启动，监听端口：{PORT}，等待工控机连接...")
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# 等待工控机连接
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conn, addr = server_socket.accept()
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with conn:
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logging.info(f"[1106] 工控机已连接：{addr}")
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# 循环接收指令
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while True:
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# 接收指令（最大1024字节）
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data = conn.recv(1024).decode()
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logging.info(f"\n[1106] 收到工控机指令：{data}")
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# 解析指令
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prog_id, params = parse_command(data)
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logging.info(f"[1106] 解析结果 - 指令：{prog_id}，参数：{params}")
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while True: # 持续接受新连接
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try:
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# 等待工控机连接
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conn, addr = server_socket.accept()
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logging.info(f"[1106] 工控机已连接：{addr}")
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# 执行对应程序
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responses = ""
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if prog_id in PROG_MAP:
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try:
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result = PROG_MAP[prog_id](**params)
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response = f"SUCCESS|步进电机测试执行完成，结果：{result}"
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logging.info(f"[1106] {response}")
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except Exception as e:
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response = f"FAIL|步进电机测试执行失败：{str(e)}"
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logging.error(f"[1106] {response}", exc_info=True)
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else:
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response = f"FAIL|未知指令：{prog_id}，支持指令：{list(PROG_MAP.keys())}"
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logging.warning(f"[1106] {response}")
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# 循环接收指令
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while True:
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# 接收指令（最大1024字节）
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data = conn.recv(1024).decode()
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if not data:
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logging.warning("客户端断开连接")
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break
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# 发送响应给工控机
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conn.sendall(response.encode("utf-8"))
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logging.info(f"[1106] 已发送响应：{response}")
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logging.info(f"\n[1106] 收到工控机指令：{data}")
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# 解析指令
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response_dict = parse_json_command(data)
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response_json = json.dumps(response_dict, ensure_ascii=False) + "\n" # 看需不需要加换行符\n
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# 发送响应给工控机
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conn.sendall(response_json.encode("utf-8"))
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logging.info(f"[1106] 已发送响应：{response_json}")
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except ConnectionError:
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logging.info("客户端异常断开")
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except Exception as e:
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logging.info(f"处理连接时发生错误: {e}")
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finally:
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if conn is not None:
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conn.close()
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conn = None # 重置，避免重复关闭
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logging.info("客户端连接已关闭，等待新连接...")
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except KeyboardInterrupt:
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logging.info("\n收到 Ctrl+C，正在关闭服务...")
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finally:
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if server_socket:
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server_socket.close()
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logging.info("服务已停止，监听 socket 已释放")
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# ----------测试接口----------
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if __name__ == "__main__":
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@ -1,15 +1,14 @@
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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'''
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# @Time : 2026/1/5 15:50
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"""
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# @Time : 2026/1/4 19:13
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# @Author : reenrr
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# @File : stepper_motor.py
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# @Desc : 控制步进电机从初始位置移动10cm,移动后回到初始位置
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'''
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# @File : stepper_motor_test1.py
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# @Desc : 线条厂控制步进电机测试 应该不会丢步
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"""
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import time
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from periphery import GPIO
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import logging
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import os
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# ------------参数配置-------------
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# 1. 脉冲（PUL）引脚配置 → GPIO32
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@ -20,33 +19,15 @@ DIR_Pin = 33
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# 3. 驱动器参数（根据拨码调整，默认不变）
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PULSES_PER_ROUND = 400 # 每圈脉冲数（SW5~SW8拨码，默认400）
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PULSE_FREQUENCY = 2500 # 脉冲频率（Hz）
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PULSE_FREQUENCY = 2500 # 脉冲频率（Hz，新手建议500~2000，最大200KHz）
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# ------------ 日志+参数配置 ------------
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script_dir = os.path.dirname(os.path.abspath(__file__))
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log_file_path = os.path.join(script_dir, "stepper_motor.log")
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logging.basicConfig(
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level=logging.INFO,
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format='[%(asctime)s.%(msecs)03d] [%(levelname)s] %(message)s',
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datefmt='%Y-%m-%d %H:%M:%S',
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handlers=[
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logging.StreamHandler(),
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logging.FileHandler(log_file_path, encoding='utf-8')
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]
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)
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class StepperMotor:
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"""新力川MA860H驱动器步进电机控制类"""
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# 方向常量定义
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CLOCKWISE = "clockwise" # 顺时针
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COUNTER_CLOCKWISE = "counterclockwise" # 逆时针
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def __init__(self,
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pul_pin: int = PUL_Pin,
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dir_pin: int = DIR_Pin,
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pulses_per_round: int = PULSES_PER_ROUND,
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pulse_frequency: int = PULSE_FREQUENCY,
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clockwise_level: bool = True,
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counter_clockwise_level: bool = False):
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"""
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@ -54,7 +35,6 @@ class StepperMotor:
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:param pul_pin: 脉冲引脚
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:param dir_pin: 方向引脚
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:param pulses_per_round: 每圈脉冲数（SW5~SW8拨码，默认400）
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:param pulse_frequency: 脉冲频率（Hz，）
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:param clockwise_level: 顺时针对应的DIR电平
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:param counter_clockwise_level: 逆时针对应的DIR电平
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"""
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@ -64,7 +44,6 @@ class StepperMotor:
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# 驱动器参数
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self.pulses_per_round = pulses_per_round
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self.pulse_frequency = pulse_frequency
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self.clockwise_level = clockwise_level
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self.counter_clockwise_level = counter_clockwise_level
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@ -76,7 +55,7 @@ class StepperMotor:
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self._init_gpio()
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def _init_gpio(self):
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"""初始化PUL和DIR引脚"""
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"""初始化PUL和DIR引脚（内部方法）"""
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try:
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# 初始化脉冲引脚（输出模式）
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self.pul_gpio = GPIO(self.pul_pin, "out")
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@ -87,52 +66,48 @@ class StepperMotor:
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self.pul_gpio.write(False)
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self.dir_gpio.write(False)
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logging.info(f"PUL引脚初始化完成：{self.pul_pin} 引脚")
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logging.info(f"DIR引脚初始化完成：{self.dir_pin} 引脚")
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print(f"✅ PUL引脚初始化完成：{self.pul_pin} 引脚")
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print(f"✅ DIR引脚初始化完成：{self.dir_pin} 引脚")
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except PermissionError:
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raise RuntimeError("权限不足！请用sudo运行程序（sudo python xxx.py）")
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except Exception as e:
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raise RuntimeError(f"GPIO初始化失败：{str(e)}") from e
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def _validate_rounds(self, rounds: float) -> bool:
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"""验证圈数是否合法（内部方法）"""
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def _validate_params(self, rounds: float, direction: int) -> bool:
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if rounds <= 0:
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logging.info("圈数必须为正数")
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print("圈数必须为正数")
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return False
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if direction not in (0, 1):
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print("方向必须为0（逆时针）或1（顺时针）")
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return False
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return True
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def _validate_direction(self, direction: str) -> bool:
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"""验证方向参数是否合法（内部方法）"""
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if direction not in [self.CLOCKWISE, self.COUNTER_CLOCKWISE]:
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logging.info(f"方向参数错误：仅支持 {self.CLOCKWISE}/{self.COUNTER_CLOCKWISE}")
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return False
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return True
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def rotate(self, rounds: float, direction: str = CLOCKWISE):
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def rotate(self, pulse_frequency: int, rounds: float, direction: int):
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"""
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控制电机旋转（支持正反转）
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:param pulse_frequency: 脉冲频率（hz)
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:param rounds: 旋转圈数（可小数，如0.5=半圈）
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:param direction: 方向（clockwise=顺时针，counterclockwise=逆时针）
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:param direction: 方向（1=顺时针，0=逆时针）
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"""
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# 参数验证
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if not self._validate_rounds(rounds) or not self._validate_direction(direction):
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if not self._validate_params(rounds, direction):
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return
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# 设置旋转方向（DIR电平）
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if direction == self.CLOCKWISE: # 顺时针
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if direction == 1: # 顺时针
|
||||
self.dir_gpio.write(self.clockwise_level)
|
||||
logging.info(f"\n=== 顺时针旋转 {rounds} 圈 ===")
|
||||
print(f"\n=== 顺时针旋转 {rounds} 圈 ===")
|
||||
else: # 逆时针
|
||||
self.dir_gpio.write(self.counter_clockwise_level)
|
||||
logging.info(f"\n=== 逆时针旋转 {rounds} 圈 ===")
|
||||
print(f"\n=== 逆时针旋转 {rounds} 圈 ===")
|
||||
|
||||
# 计算总脉冲数和时序（精准控制，避免丢步）
|
||||
total_pulses = int(rounds * self.pulses_per_round)
|
||||
pulse_period = 1.0 / self.pulse_frequency # 脉冲周期（秒）
|
||||
pulse_period = 1.0 / pulse_frequency # 脉冲周期（秒）
|
||||
half_period = pulse_period / 2 # 占空比50%（MA860H最优）
|
||||
|
||||
logging.info(f"总脉冲数：{total_pulses} | 频率：{self.pulse_frequency}Hz | 周期：{pulse_period * 1000:.2f}ms")
|
||||
print(f"总脉冲数：{total_pulses} | 频率：{pulse_frequency}Hz | 周期：{pulse_period * 1000:.2f}ms")
|
||||
start_time = time.perf_counter() # 高精度计时（避免丢步）
|
||||
|
||||
# 发送脉冲序列（核心：占空比50%的方波）
|
||||
@ -147,13 +122,13 @@ class StepperMotor:
|
||||
# 更新下一个脉冲的起始时间
|
||||
start_time += pulse_period
|
||||
|
||||
logging.info("旋转完成")
|
||||
print("✅ 旋转完成")
|
||||
|
||||
def stop(self):
|
||||
"""紧急停止（置低脉冲引脚）"""
|
||||
if self.pul_gpio:
|
||||
self.pul_gpio.write(False)
|
||||
logging.info("电机已停止")
|
||||
print("🛑 电机已停止")
|
||||
|
||||
def close(self):
|
||||
"""释放GPIO资源"""
|
||||
@ -161,12 +136,12 @@ class StepperMotor:
|
||||
if self.pul_gpio:
|
||||
self.pul_gpio.write(False) # 脉冲引脚置低
|
||||
self.pul_gpio.close()
|
||||
logging.info("\n PUL引脚已关闭（电平置低）")
|
||||
print("\n✅ PUL引脚已关闭（电平置低）")
|
||||
|
||||
if self.dir_gpio:
|
||||
self.dir_gpio.write(False) # 方向引脚置低
|
||||
self.dir_gpio.close()
|
||||
logging.info("DIR引脚已关闭（电平置低）")
|
||||
print("✅ DIR引脚已关闭（电平置低）")
|
||||
|
||||
# 重置GPIO对象
|
||||
self.pul_gpio = None
|
||||
@ -176,36 +151,65 @@ class StepperMotor:
|
||||
"""析构函数：确保资源释放"""
|
||||
self.close()
|
||||
|
||||
# ------全局实例-------
|
||||
GLOBAL_MOTOR = StepperMotor()
|
||||
|
||||
#---------控制步进电机外部接口--------------
|
||||
def stepper_motor_control():
|
||||
motor = None
|
||||
# -------对外接口----------
|
||||
def motor_start(speed: int, cycle: float, direction: int):
|
||||
"""
|
||||
开启电机，用于断电时电机恢复到起始位置
|
||||
:param speed: 脉冲频率（hz)
|
||||
:param cycle: 旋转圈数
|
||||
:param direction: 0=负向（逆时针），1=正向（顺时针）
|
||||
"""
|
||||
try:
|
||||
# 创建电机实例（使用默认配置）
|
||||
motor = StepperMotor()
|
||||
logging.info("\n=== 步进电机控制程序启动 ===")
|
||||
print("\n=== 启动步进电机 ===")
|
||||
|
||||
GLOBAL_MOTOR.rotate(pulse_frequency=speed, rounds=cycle, direction=direction)
|
||||
time.sleep(5) # 暂停5秒
|
||||
|
||||
except ImportError:
|
||||
print("\n❌ 缺少依赖：请安装python-periphery")
|
||||
print("命令：pip install python-periphery")
|
||||
except Exception as e:
|
||||
print(f"\n❌ 程序异常：{str(e)}")
|
||||
|
||||
def motor_stop():
|
||||
"""紧急停止（仅停止脉冲，保留实例）"""
|
||||
try:
|
||||
if GLOBAL_MOTOR:
|
||||
GLOBAL_MOTOR.stop()
|
||||
except Exception as e:
|
||||
print("停止失败:{e}")
|
||||
|
||||
def align_wire(speed: int, cycle: float):
|
||||
"""
|
||||
使线条对齐
|
||||
:param speed: 脉冲频率（hz)
|
||||
:param cycle: 旋转圈数
|
||||
"""
|
||||
try:
|
||||
print("\n=== 启动线条对齐 ===")
|
||||
|
||||
# 靠近电机方向 逆时针
|
||||
motor.rotate(rounds=10.0, direction=motor.COUNTER_CLOCKWISE)
|
||||
GLOBAL_MOTOR.rotate(pulse_frequency=speed, rounds=cycle, direction=0)
|
||||
time.sleep(5) # 暂停5秒
|
||||
# 远离电机方向 顺时针
|
||||
motor.rotate(rounds=10.0, direction=motor.CLOCKWISE)
|
||||
GLOBAL_MOTOR.rotate(pulse_frequency=speed,rounds=10.0, direction=1)
|
||||
time.sleep(5) # 暂停5秒
|
||||
|
||||
except PermissionError:
|
||||
logging.info("\n 权限不足：请用 sudo 运行！")
|
||||
logging.info("命令：sudo python3 double_direction_motor.py")
|
||||
except ImportError:
|
||||
logging.info("\n 缺少依赖：请安装python-periphery")
|
||||
logging.info("命令：pip install python-periphery")
|
||||
print("\n❌ 缺少依赖：请安装python-periphery")
|
||||
print("命令：pip install python-periphery")
|
||||
except Exception as e:
|
||||
logging.info(f"\n 程序异常：{str(e)}")
|
||||
finally:
|
||||
if motor:
|
||||
motor.close()
|
||||
logging.info("程序退出完成")
|
||||
print(f"\n❌ 程序异常：{str(e)}")
|
||||
|
||||
def cleanup():
|
||||
"""程序退出时统一清理"""
|
||||
if GLOBAL_MOTOR:
|
||||
GLOBAL_MOTOR.close()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
stepper_motor_control()
|
||||
motor_start(2500, 10.0, 1)
|
||||
|
||||
|
||||
@ -1,159 +0,0 @@
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
# @Time : 2026/1/4 15:06
|
||||
# @Author : reenrr
|
||||
# @File : stepper_motor_test.py
|
||||
# @Desc : 线条厂控制步进电机
|
||||
"""
|
||||
import time
|
||||
from periphery import GPIO
|
||||
import sys
|
||||
sys.setswitchinterval(0.000001) # 减小线程切换间隔
|
||||
|
||||
# --------------
|
||||
# 硬件参数配置（必须与你的设备匹配！）
|
||||
# --------------
|
||||
# 1. 脉冲（PUL）引脚配置 → GPIO32
|
||||
PUL_Pin = 32
|
||||
|
||||
# 2. 方向（DIR）引脚配置 → GPIO33
|
||||
DIR_Pin = 33
|
||||
|
||||
# 3. LCDA257C驱动器核心参数（关键！与拨码/软件设置一致）
|
||||
PULSES_PER_ROUND = 400 # 每圈脉冲数（按驱动器细分拨码调整）
|
||||
PULSE_FREQUENCY = 5000 # 初始测试频率（建议从500开始逐步调高）
|
||||
|
||||
# 4. LCDA257C时序参数（遵循手册要求，不可低于最小值）
|
||||
MIN_DIR_DELAY_US = 10 # DIR提前PUL的最小延迟（>8us）
|
||||
PULSE_LOW_MIN_US = 2 # 脉冲低电平最小宽度（≥2us）
|
||||
PULSE_HIGH_MIN_US = 2 # 脉冲高电平最小宽度（≥2us）
|
||||
|
||||
# 5. 方向电平定义（可根据实际测试调整）
|
||||
CLOCKWISE_LEVEL = True # 顺时针→DIR高电平
|
||||
COUNTER_CLOCKWISE_LEVEL = False # 逆时针→DIR低电平
|
||||
|
||||
|
||||
def init_stepper() -> tuple[GPIO, GPIO]:
|
||||
"""初始化PUL和DIR引脚（输出模式，适配LCDA257C）"""
|
||||
try:
|
||||
# 初始化脉冲引脚（输出模式）
|
||||
pul_gpio = GPIO(PUL_Pin, "out")
|
||||
# 初始化方向引脚（输出模式）
|
||||
dir_gpio = GPIO(DIR_Pin, "out")
|
||||
|
||||
# 初始状态：脉冲低电平，方向低电平（驱动器空闲状态）
|
||||
pul_gpio.write(False)
|
||||
dir_gpio.write(False)
|
||||
|
||||
print(f"✅ PUL引脚初始化完成：{PUL_Pin}引脚")
|
||||
print(f"✅ DIR引脚初始化完成：{DIR_Pin}引脚")
|
||||
return pul_gpio, dir_gpio
|
||||
|
||||
except FileNotFoundError:
|
||||
raise RuntimeError(f"GPIO芯片不存在！检查 {PUL_Pin} 是否存在（命令：ls /dev/gpiochip*）")
|
||||
except PermissionError:
|
||||
raise RuntimeError("GPIO权限不足！请用 sudo 运行程序（sudo python test.py）")
|
||||
except Exception as e:
|
||||
raise RuntimeError(f"GPIO初始化失败：{str(e)}") from e
|
||||
|
||||
|
||||
def rotate(pul_gpio: GPIO, dir_gpio: GPIO, rounds: float, direction: str = "clockwise",
|
||||
test_freq: int = PULSE_FREQUENCY):
|
||||
"""
|
||||
控制LCDA257C驱动器旋转（优化版脉冲发送，解决频率不生效问题）
|
||||
:param pul_gpio: PUL引脚GPIO对象
|
||||
:param dir_gpio: DIR引脚GPIO对象
|
||||
:param rounds: 旋转圈数（正数，可小数）
|
||||
:param direction: 方向（clockwise/counterclockwise）
|
||||
:param test_freq: 本次旋转使用的脉冲频率（覆盖全局默认值）
|
||||
"""
|
||||
# 1. 参数合法性校验
|
||||
if rounds <= 0:
|
||||
print("❌ 圈数必须为正数！")
|
||||
return
|
||||
if test_freq < 100:
|
||||
print("❌ 频率过低（≥100Hz），请调整test_freq参数！")
|
||||
return
|
||||
|
||||
# 2. 设置旋转方向（严格遵循DIR提前时序）
|
||||
if direction == "clockwise":
|
||||
dir_gpio.write(CLOCKWISE_LEVEL)
|
||||
print(f"\n=== 顺时针旋转 {rounds} 圈（目标频率：{test_freq}Hz）===")
|
||||
elif direction == "counterclockwise":
|
||||
dir_gpio.write(COUNTER_CLOCKWISE_LEVEL)
|
||||
print(f"\n=== 逆时针旋转 {rounds} 圈（目标频率：{test_freq}Hz）===")
|
||||
else:
|
||||
print("❌ 方向参数错误！仅支持 clockwise/counterclockwise")
|
||||
return
|
||||
|
||||
# DIR电平设置后，延迟≥8us（满足LCDA257C时序要求）
|
||||
time.sleep(MIN_DIR_DELAY_US / 1_000_000)
|
||||
|
||||
# 3. 计算脉冲参数（确保高低电平≥最小宽度）
|
||||
total_pulses = int(rounds * PULSES_PER_ROUND)
|
||||
pulse_period = 1.0 / test_freq # 脉冲周期（秒）
|
||||
|
||||
# 确保高低电平宽度不低于驱动器要求（避免脉冲识别失败）
|
||||
high_period = max(pulse_period / 2, PULSE_HIGH_MIN_US / 1_000_000)
|
||||
low_period = max(pulse_period / 2, PULSE_LOW_MIN_US / 1_000_000)
|
||||
|
||||
# 打印参数（便于调试）
|
||||
print(f"总脉冲数：{total_pulses} | 理论高电平：{high_period * 1e6:.1f}us | 理论低电平：{low_period * 1e6:.1f}us")
|
||||
|
||||
# 4. 优化版脉冲发送（解决Python高频延时不准问题）
|
||||
start_total = time.perf_counter() # 高精度计时（统计实际频率）
|
||||
for _ in range(total_pulses):
|
||||
# 高电平（直接sleep，避免while循环的调度延迟）
|
||||
pul_gpio.write(True)
|
||||
time.sleep(high_period)
|
||||
|
||||
# 低电平
|
||||
pul_gpio.write(False)
|
||||
time.sleep(low_period)
|
||||
end_total = time.perf_counter()
|
||||
|
||||
# 5. 计算实际频率（验证是否达到目标）
|
||||
actual_duration = end_total - start_total
|
||||
actual_freq = total_pulses / actual_duration if actual_duration > 0 else 0
|
||||
print(f"✅ 旋转完成 | 实际频率：{actual_freq:.0f}Hz | 耗时：{actual_duration:.2f}秒")
|
||||
|
||||
|
||||
def motor_test_demo():
|
||||
"""电机测试示例（逐步提升频率，验证转速变化）"""
|
||||
pul_gpio = None
|
||||
dir_gpio = None
|
||||
try:
|
||||
# 初始化引脚
|
||||
pul_gpio, dir_gpio = init_stepper()
|
||||
print("\n=== 步进电机频率测试程序启动 ===")
|
||||
|
||||
while True:
|
||||
print(f"\n===== 测试频率：{PULSE_FREQUENCY}Hz =====")
|
||||
|
||||
# 远离电机方向 顺时针
|
||||
rotate(pul_gpio, dir_gpio, rounds=10.0, direction="clockwise")
|
||||
time.sleep(5) #
|
||||
# 靠近电机方向 逆时针
|
||||
rotate(pul_gpio, dir_gpio, rounds=10.0, direction="counterclockwise")
|
||||
time.sleep(5) #
|
||||
|
||||
except Exception as e:
|
||||
print(f"\n❌ 程序异常：{str(e)}")
|
||||
finally:
|
||||
# 安全释放GPIO资源（必须执行，避免引脚电平残留）
|
||||
if pul_gpio:
|
||||
pul_gpio.write(False)
|
||||
pul_gpio.close()
|
||||
print("\n✅ PUL引脚已关闭（低电平）")
|
||||
if dir_gpio:
|
||||
dir_gpio.write(False)
|
||||
dir_gpio.close()
|
||||
print("✅ DIR引脚已关闭（低电平）")
|
||||
print("✅ 程序退出完成")
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
# 运行测试demo（必须sudo执行）
|
||||
motor_test_demo()
|
||||
|
||||
@ -1,198 +0,0 @@
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
# @Time : 2026/1/4 19:13
|
||||
# @Author : reenrr
|
||||
# @File : stepper_motor_test1.py
|
||||
# @Desc : 线条厂控制步进电机测试 应该不会丢步
|
||||
"""
|
||||
import time
|
||||
from periphery import GPIO # 若未安装：pip install python-periphery
|
||||
|
||||
# ------------参数配置-------------
|
||||
# 1. 脉冲（PUL）引脚配置 → GPIO32
|
||||
PUL_Pin = 32
|
||||
|
||||
# 2. 方向（DIR）引脚配置 → GPIO33
|
||||
DIR_Pin = 33
|
||||
|
||||
# 3. 驱动器参数（根据拨码调整，默认不变）
|
||||
PULSES_PER_ROUND = 400 # 每圈脉冲数（SW5~SW8拨码，默认400）
|
||||
PULSE_FREQUENCY = 2500 # 脉冲频率（Hz，新手建议500~2000，最大200KHz）
|
||||
|
||||
class StepperMotor:
|
||||
"""新力川MA860H驱动器步进电机控制类"""
|
||||
# 方向常量定义
|
||||
CLOCKWISE = "clockwise" # 顺时针
|
||||
COUNTER_CLOCKWISE = "counterclockwise" # 逆时针
|
||||
|
||||
def __init__(self,
|
||||
pul_pin: int = PUL_Pin,
|
||||
dir_pin: int = DIR_Pin,
|
||||
pulses_per_round: int = PULSES_PER_ROUND,
|
||||
pulse_frequency: int = PULSE_FREQUENCY,
|
||||
clockwise_level: bool = True,
|
||||
counter_clockwise_level: bool = False):
|
||||
"""
|
||||
初始化步进电机控制器
|
||||
:param pul_pin: 脉冲引脚
|
||||
:param dir_pin: 方向引脚
|
||||
:param pulses_per_round: 每圈脉冲数（SW5~SW8拨码，默认400）
|
||||
:param pulse_frequency: 脉冲频率（Hz，新手建议500~2000，最大200KHz）
|
||||
:param clockwise_level: 顺时针对应的DIR电平
|
||||
:param counter_clockwise_level: 逆时针对应的DIR电平
|
||||
"""
|
||||
# 硬件配置参数
|
||||
self.pul_pin = pul_pin
|
||||
self.dir_pin = dir_pin
|
||||
|
||||
# 驱动器参数
|
||||
self.pulses_per_round = pulses_per_round
|
||||
self.pulse_frequency = pulse_frequency
|
||||
self.clockwise_level = clockwise_level
|
||||
self.counter_clockwise_level = counter_clockwise_level
|
||||
|
||||
# GPIO对象初始化
|
||||
self.pul_gpio = None
|
||||
self.dir_gpio = None
|
||||
|
||||
# 初始化GPIO
|
||||
self._init_gpio()
|
||||
|
||||
def _init_gpio(self):
|
||||
"""初始化PUL和DIR引脚（内部方法）"""
|
||||
try:
|
||||
# 初始化脉冲引脚（输出模式）
|
||||
self.pul_gpio = GPIO(self.pul_pin, "out")
|
||||
# 初始化方向引脚（输出模式）
|
||||
self.dir_gpio = GPIO(self.dir_pin, "out")
|
||||
|
||||
# 初始电平置低（避免电机误动作）
|
||||
self.pul_gpio.write(False)
|
||||
self.dir_gpio.write(False)
|
||||
|
||||
print(f"✅ PUL引脚初始化完成：{self.pul_pin} 引脚")
|
||||
print(f"✅ DIR引脚初始化完成：{self.dir_pin} 引脚")
|
||||
|
||||
except PermissionError:
|
||||
raise RuntimeError("权限不足！请用sudo运行程序（sudo python xxx.py）")
|
||||
except Exception as e:
|
||||
raise RuntimeError(f"GPIO初始化失败：{str(e)}") from e
|
||||
|
||||
def _validate_rounds(self, rounds: float) -> bool:
|
||||
"""验证圈数是否合法（内部方法）"""
|
||||
if rounds <= 0:
|
||||
print("❌ 圈数必须为正数")
|
||||
return False
|
||||
return True
|
||||
|
||||
def _validate_direction(self, direction: str) -> bool:
|
||||
"""验证方向参数是否合法（内部方法）"""
|
||||
if direction not in [self.CLOCKWISE, self.COUNTER_CLOCKWISE]:
|
||||
print(f"❌ 方向参数错误：仅支持 {self.CLOCKWISE}/{self.COUNTER_CLOCKWISE}")
|
||||
return False
|
||||
return True
|
||||
|
||||
def rotate(self, rounds: float, direction: str = CLOCKWISE):
|
||||
"""
|
||||
控制电机旋转（支持正反转）
|
||||
:param rounds: 旋转圈数（可小数，如0.5=半圈）
|
||||
:param direction: 方向（clockwise=顺时针，counterclockwise=逆时针）
|
||||
"""
|
||||
# 参数验证
|
||||
if not self._validate_rounds(rounds) or not self._validate_direction(direction):
|
||||
return
|
||||
|
||||
# 设置旋转方向（DIR电平）
|
||||
if direction == self.CLOCKWISE: # 顺时针
|
||||
self.dir_gpio.write(self.clockwise_level)
|
||||
print(f"\n=== 顺时针旋转 {rounds} 圈 ===")
|
||||
else: # 逆时针
|
||||
self.dir_gpio.write(self.counter_clockwise_level)
|
||||
print(f"\n=== 逆时针旋转 {rounds} 圈 ===")
|
||||
|
||||
# 计算总脉冲数和时序（精准控制，避免丢步）
|
||||
total_pulses = int(rounds * self.pulses_per_round)
|
||||
pulse_period = 1.0 / self.pulse_frequency # 脉冲周期（秒）
|
||||
half_period = pulse_period / 2 # 占空比50%（MA860H最优）
|
||||
|
||||
print(f"总脉冲数：{total_pulses} | 频率：{self.pulse_frequency}Hz | 周期：{pulse_period * 1000:.2f}ms")
|
||||
start_time = time.perf_counter() # 高精度计时（避免丢步）
|
||||
|
||||
# 发送脉冲序列（核心：占空比50%的方波）
|
||||
for _ in range(total_pulses):
|
||||
# 高电平
|
||||
self.pul_gpio.write(True)
|
||||
# 精准延时（比time.sleep稳定，适配高频脉冲）
|
||||
while time.perf_counter() - start_time < half_period:
|
||||
pass
|
||||
# 低电平
|
||||
self.pul_gpio.write(False)
|
||||
# 更新下一个脉冲的起始时间
|
||||
start_time += pulse_period
|
||||
|
||||
print("✅ 旋转完成")
|
||||
|
||||
def stop(self):
|
||||
"""紧急停止（置低脉冲引脚）"""
|
||||
if self.pul_gpio:
|
||||
self.pul_gpio.write(False)
|
||||
print("🛑 电机已停止")
|
||||
|
||||
def close(self):
|
||||
"""释放GPIO资源"""
|
||||
# 安全释放GPIO资源（关键：避免引脚电平残留）
|
||||
if self.pul_gpio:
|
||||
self.pul_gpio.write(False) # 脉冲引脚置低
|
||||
self.pul_gpio.close()
|
||||
print("\n✅ PUL引脚已关闭（电平置低）")
|
||||
|
||||
if self.dir_gpio:
|
||||
self.dir_gpio.write(False) # 方向引脚置低
|
||||
self.dir_gpio.close()
|
||||
print("✅ DIR引脚已关闭（电平置低）")
|
||||
|
||||
# 重置GPIO对象
|
||||
self.pul_gpio = None
|
||||
self.dir_gpio = None
|
||||
|
||||
def __del__(self):
|
||||
"""析构函数：确保资源释放"""
|
||||
self.close()
|
||||
|
||||
|
||||
# 使用示例
|
||||
def motor_demo():
|
||||
"""电机控制示例"""
|
||||
motor = None
|
||||
try:
|
||||
# 创建电机实例（使用默认配置）
|
||||
motor = StepperMotor()
|
||||
print("\n=== 步进电机控制程序启动 ===")
|
||||
|
||||
while True:
|
||||
# 靠近电机方向 逆时针
|
||||
motor.rotate(rounds=10.0, direction=motor.COUNTER_CLOCKWISE)
|
||||
time.sleep(5) # 暂停5秒
|
||||
# 远离电机方向 顺时针
|
||||
motor.rotate(rounds=10.0, direction=motor.CLOCKWISE)
|
||||
time.sleep(5) # 暂停5秒
|
||||
|
||||
|
||||
except PermissionError:
|
||||
print("\n❌ 权限不足：请用 sudo 运行！")
|
||||
print("命令：sudo python3 double_direction_motor.py")
|
||||
except ImportError:
|
||||
print("\n❌ 缺少依赖：请安装python-periphery")
|
||||
print("命令：pip install python-periphery")
|
||||
except Exception as e:
|
||||
print(f"\n❌ 程序异常：{str(e)}")
|
||||
finally:
|
||||
if motor:
|
||||
motor.close()
|
||||
print("✅ 程序退出完成")
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
motor_demo()
|
||||
|
||||
291
RK1106/test.py
291
RK1106/test.py
@ -1,291 +0,0 @@
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
'''
|
||||
# @Time : 2026/1/5 16:18
|
||||
# @Author : reenrr
|
||||
# @File : test.py
|
||||
# @Desc : 步进电机添加记录脉冲数量（防止断电情况）
|
||||
'''
|
||||
import time
|
||||
import json
|
||||
import os
|
||||
from periphery import GPIO
|
||||
|
||||
# ------------参数配置-------------
|
||||
# 1. 脉冲（PUL）引脚配置 → GPIO32
|
||||
PUL_Pin = 32
|
||||
|
||||
# 2. 方向（DIR）引脚配置 → GPIO33
|
||||
DIR_Pin = 33
|
||||
|
||||
# 3. 驱动器参数（根据拨码调整，默认不变）
|
||||
PULSES_PER_ROUND = 400 # 每圈脉冲数（SW5~SW8拨码，默认400）
|
||||
PULSE_FREQUENCY = 2500 # 脉冲频率（Hz，新手建议500~2000，最大200KHz）
|
||||
|
||||
# 4. 计数持久化配置
|
||||
COUNT_FILE = os.path.join(os.path.dirname(os.path.abspath(__file__)), "motor_pulse_count.json")
|
||||
SAVE_INTERVAL = 10 # 每发送10个脉冲保存一次计数（减少IO开销，可根据需求调整）
|
||||
|
||||
class StepperMotor:
|
||||
"""新力川MA860H驱动器步进电机控制类"""
|
||||
# 方向常量定义
|
||||
CLOCKWISE = "clockwise" # 顺时针
|
||||
COUNTER_CLOCKWISE = "counterclockwise" # 逆时针
|
||||
|
||||
def __init__(self,
|
||||
pul_pin: int = PUL_Pin,
|
||||
dir_pin: int = DIR_Pin,
|
||||
pulses_per_round: int = PULSES_PER_ROUND,
|
||||
pulse_frequency: int = PULSE_FREQUENCY,
|
||||
clockwise_level: bool = True,
|
||||
counter_clockwise_level: bool = False):
|
||||
"""
|
||||
初始化步进电机控制器
|
||||
:param pul_pin: 脉冲引脚
|
||||
:param dir_pin: 方向引脚
|
||||
:param pulses_per_round: 每圈脉冲数（SW5~SW8拨码，默认400）
|
||||
:param pulse_frequency: 脉冲频率（Hz，新手建议500~2000，最大200KHz）
|
||||
:param clockwise_level: 顺时针对应的DIR电平
|
||||
:param counter_clockwise_level: 逆时针对应的DIR电平
|
||||
"""
|
||||
# 硬件配置参数
|
||||
self.pul_pin = pul_pin
|
||||
self.dir_pin = dir_pin
|
||||
|
||||
# 驱动器参数
|
||||
self.pulses_per_round = pulses_per_round
|
||||
self.pulse_frequency = pulse_frequency
|
||||
self.clockwise_level = clockwise_level
|
||||
self.counter_clockwise_level = counter_clockwise_level
|
||||
|
||||
# GPIO对象初始化
|
||||
self.pul_gpio = None
|
||||
self.dir_gpio = None
|
||||
|
||||
# 脉冲计数相关（核心：记录已发送的脉冲数）
|
||||
self.current_pulse_count = 0 # 本次旋转已发送的脉冲数
|
||||
self.total_pulse_history = self._load_pulse_count() # 历史总脉冲数（从文件加载）
|
||||
self.current_rotate_target = 0 # 本次旋转的目标脉冲数
|
||||
|
||||
# 初始化GPIO
|
||||
self._init_gpio()
|
||||
|
||||
def _load_pulse_count(self):
|
||||
"""加载历史脉冲计数（程序启动时执行）"""
|
||||
try:
|
||||
if os.path.exists(COUNT_FILE):
|
||||
with open(COUNT_FILE, "r", encoding="utf-8") as f:
|
||||
data = json.load(f)
|
||||
# 返回历史总脉冲数（默认0）
|
||||
return int(data.get("total_pulses", 0))
|
||||
except Exception as e:
|
||||
print(f"[WARN] 加载历史计数失败：{e}，将从0开始计数")
|
||||
return 0
|
||||
|
||||
def _save_pulse_count(self):
|
||||
"""保存当前总脉冲数到文件（持久化）"""
|
||||
try:
|
||||
with open(COUNT_FILE, "w", encoding="utf-8") as f:
|
||||
json.dump({
|
||||
"total_pulses": self.total_pulse_history,
|
||||
"update_time": time.strftime("%Y-%m-%d %H:%M:%S", time.localtime())
|
||||
}, f, ensure_ascii=False, indent=2)
|
||||
except Exception as e:
|
||||
print(f"[ERROR] 保存计数失败：{e}")
|
||||
|
||||
def _init_gpio(self):
|
||||
"""初始化PUL和DIR引脚（内部方法）"""
|
||||
try:
|
||||
# 初始化脉冲引脚（输出模式）
|
||||
self.pul_gpio = GPIO(self.pul_pin, "out")
|
||||
# 初始化方向引脚（输出模式）
|
||||
self.dir_gpio = GPIO(self.dir_pin, "out")
|
||||
|
||||
# 初始电平置低（避免电机误动作）
|
||||
self.pul_gpio.write(False)
|
||||
self.dir_gpio.write(False)
|
||||
|
||||
print(f"[OK] PUL引脚初始化完成：{self.pul_pin} 引脚")
|
||||
print(f"[OK] DIR引脚初始化完成：{self.dir_pin} 引脚")
|
||||
print(
|
||||
f"[INFO] 历史累计脉冲数：{self.total_pulse_history} → 对应圈数：{self.total_pulse_history / self.pulses_per_round:.2f} 圈")
|
||||
|
||||
except PermissionError:
|
||||
raise RuntimeError("权限不足！请用sudo运行程序（sudo python xxx.py）")
|
||||
except Exception as e:
|
||||
raise RuntimeError(f"GPIO初始化失败：{str(e)}") from e
|
||||
|
||||
def _validate_rounds(self, rounds: float) -> bool:
|
||||
"""验证圈数是否合法（内部方法）"""
|
||||
if rounds <= 0:
|
||||
print("[ERROR] 圈数必须为正数")
|
||||
return False
|
||||
return True
|
||||
|
||||
def _validate_direction(self, direction: str) -> bool:
|
||||
"""验证方向参数是否合法（内部方法）"""
|
||||
if direction not in [self.CLOCKWISE, self.COUNTER_CLOCKWISE]:
|
||||
print(f"[ERROR] 方向参数错误：仅支持 {self.CLOCKWISE}/{self.COUNTER_CLOCKWISE}")
|
||||
return False
|
||||
return True
|
||||
|
||||
def rotate(self, rounds: float, direction: str = CLOCKWISE):
|
||||
"""
|
||||
控制电机旋转（支持正反转，实时记录脉冲数）
|
||||
:param rounds: 旋转圈数（可小数，如0.5=半圈）
|
||||
:param direction: 方向（clockwise=顺时针，counterclockwise=逆时针）
|
||||
"""
|
||||
# 参数验证
|
||||
if not self._validate_rounds(rounds) or not self._validate_direction(direction):
|
||||
return
|
||||
|
||||
# 重置本次旋转的计数
|
||||
self.current_pulse_count = 0
|
||||
# 计算本次旋转的目标脉冲数
|
||||
self.current_rotate_target = int(rounds * self.pulses_per_round)
|
||||
|
||||
# 设置旋转方向（DIR电平）
|
||||
if direction == self.CLOCKWISE: # 顺时针
|
||||
self.dir_gpio.write(self.clockwise_level)
|
||||
print(f"\n=== 顺时针旋转 {rounds} 圈 ===")
|
||||
else: # 逆时针
|
||||
self.dir_gpio.write(self.counter_clockwise_level)
|
||||
print(f"\n=== 逆时针旋转 {rounds} 圈 ===")
|
||||
|
||||
# 计算总脉冲数和时序（精准控制，避免丢步）
|
||||
total_pulses = self.current_rotate_target
|
||||
pulse_period = 1.0 / self.pulse_frequency # 脉冲周期（秒）
|
||||
half_period = pulse_period / 2 # 占空比50%（MA860H最优）
|
||||
|
||||
print(f"目标脉冲数：{total_pulses} | 频率：{self.pulse_frequency}Hz | 周期：{pulse_period * 1000:.2f}ms")
|
||||
start_time = time.perf_counter() # 高精度计时（避免丢步）
|
||||
|
||||
try:
|
||||
# 发送脉冲序列（核心：占空比50%的方波，实时计数）
|
||||
for _ in range(total_pulses):
|
||||
# 高电平
|
||||
self.pul_gpio.write(True)
|
||||
# 精准延时（比time.sleep稳定，适配高频脉冲）
|
||||
while time.perf_counter() - start_time < half_period:
|
||||
pass
|
||||
# 低电平
|
||||
self.pul_gpio.write(False)
|
||||
# 更新下一个脉冲的起始时间
|
||||
start_time += pulse_period
|
||||
|
||||
# 🌟 核心：累加本次脉冲计数
|
||||
self.current_pulse_count += 1
|
||||
self.total_pulse_history += 1
|
||||
|
||||
# 每发送SAVE_INTERVAL个脉冲，保存一次计数（减少IO开销）
|
||||
if self.current_pulse_count % SAVE_INTERVAL == 0:
|
||||
self._save_pulse_count()
|
||||
|
||||
print(
|
||||
f"[OK] 旋转完成 → 本次发送脉冲：{self.current_pulse_count} | 累计脉冲：{self.total_pulse_history} | 累计圈数：{self.total_pulse_history / self.pulses_per_round:.2f}")
|
||||
|
||||
except Exception as e:
|
||||
# 🌟 关键：异常发生时（如断电前的程序崩溃），立即保存当前计数
|
||||
self._save_pulse_count()
|
||||
# 计算已完成的圈数
|
||||
completed_rounds = self.current_pulse_count / self.pulses_per_round
|
||||
remaining_pulses = self.current_rotate_target - self.current_pulse_count
|
||||
remaining_rounds = remaining_pulses / self.pulses_per_round
|
||||
print(f"\n[ERROR] 旋转过程中异常：{e}")
|
||||
print(f"[INFO] 异常时已发送脉冲：{self.current_pulse_count} → 已完成圈数：{completed_rounds:.2f}")
|
||||
print(f"[INFO] 剩余未发送脉冲：{remaining_pulses} → 剩余圈数：{remaining_rounds:.2f}")
|
||||
print(
|
||||
f"[INFO] 累计总脉冲：{self.total_pulse_history} → 累计总圈数：{self.total_pulse_history / self.pulses_per_round:.2f}")
|
||||
raise # 抛出异常，让上层处理
|
||||
|
||||
def get_current_status(self):
|
||||
"""获取当前电机状态（脉冲数、圈数）"""
|
||||
return {
|
||||
"total_pulses": self.total_pulse_history,
|
||||
"total_rounds": self.total_pulse_history / self.pulses_per_round,
|
||||
"last_rotate_completed_pulses": self.current_pulse_count,
|
||||
"last_rotate_completed_rounds": self.current_pulse_count / self.pulses_per_round,
|
||||
"last_rotate_target_pulses": self.current_rotate_target,
|
||||
"last_rotate_target_rounds": self.current_rotate_target / self.pulses_per_round
|
||||
}
|
||||
|
||||
def reset_count(self):
|
||||
"""重置累计计数（按需使用，如电机归位后）"""
|
||||
self.total_pulse_history = 0
|
||||
self._save_pulse_count()
|
||||
print("[INFO] 累计脉冲计数已重置为0")
|
||||
|
||||
def stop(self):
|
||||
"""紧急停止（置低脉冲引脚）"""
|
||||
if self.pul_gpio:
|
||||
self.pul_gpio.write(False)
|
||||
# 停止时保存当前计数
|
||||
self._save_pulse_count()
|
||||
print("[STOP] 电机已停止，当前计数已保存")
|
||||
|
||||
def close(self):
|
||||
"""释放GPIO资源"""
|
||||
# 安全释放GPIO资源（关键：避免引脚电平残留）
|
||||
if self.pul_gpio:
|
||||
self.pul_gpio.write(False) # 脉冲引脚置低
|
||||
self.pul_gpio.close()
|
||||
print("\n[OK] PUL引脚已关闭（电平置低）")
|
||||
|
||||
if self.dir_gpio:
|
||||
self.dir_gpio.write(False) # 方向引脚置低
|
||||
self.dir_gpio.close()
|
||||
print("[OK] DIR引脚已关闭（电平置低）")
|
||||
|
||||
# 关闭时保存最终计数
|
||||
self._save_pulse_count()
|
||||
print(
|
||||
f"[INFO] 最终累计脉冲：{self.total_pulse_history} → 累计圈数：{self.total_pulse_history / self.pulses_per_round:.2f}")
|
||||
|
||||
# 重置GPIO对象
|
||||
self.pul_gpio = None
|
||||
self.dir_gpio = None
|
||||
|
||||
def __del__(self):
|
||||
"""析构函数：确保资源释放"""
|
||||
self.close()
|
||||
|
||||
# ----------对外接口-----------
|
||||
def motor_demo():
|
||||
"""电机控制示例"""
|
||||
motor = None
|
||||
try:
|
||||
# 创建电机实例（使用默认配置）
|
||||
motor = StepperMotor()
|
||||
print("\n=== 步进电机控制程序启动 ===")
|
||||
# 打印初始状态
|
||||
init_status = motor.get_current_status()
|
||||
print(f"[INIT] 初始状态 → 累计圈数：{init_status['total_rounds']:.2f} 圈")
|
||||
|
||||
while True:
|
||||
# 靠近电机方向 逆时针
|
||||
motor.rotate(rounds=10.0, direction=motor.COUNTER_CLOCKWISE)
|
||||
time.sleep(5) # 暂停5秒
|
||||
# 远离电机方向 顺时针
|
||||
motor.rotate(rounds=10.0, direction=motor.CLOCKWISE)
|
||||
time.sleep(5) # 暂停5秒
|
||||
|
||||
except PermissionError:
|
||||
print("\n[ERROR] 权限不足：请用 sudo 运行！")
|
||||
print("命令：sudo python3 double_direction_motor.py")
|
||||
except ImportError:
|
||||
print("\n[ERROR] 缺少依赖：请安装python-periphery")
|
||||
print("命令：pip install python-periphery")
|
||||
except KeyboardInterrupt:
|
||||
print("\n[INFO] 用户手动停止程序")
|
||||
except Exception as e:
|
||||
print(f"\n[ERROR] 程序异常：{str(e)}")
|
||||
finally:
|
||||
if motor:
|
||||
# 打印最终状态
|
||||
final_status = motor.get_current_status()
|
||||
print(f"\n[FINAL] 程序退出状态 → 累计脉冲：{final_status['total_pulses']} | 累计圈数：{final_status['total_rounds']:.2f} 圈")
|
||||
motor.close()
|
||||
print("[OK] 程序退出完成")
|
||||
|
||||
if __name__ == '__main__':
|
||||
motor_demo()
|
||||
Reference in New Issue
Block a user