pengqi/wire_controlsystem
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

线条厂各设备控制代码

Browse Source
This commit is contained in:
pengqi
2026-01-05 18:11:56 +08:00
commit a6e9d0d734
23 changed files with 4289 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

210
RK1106/stepper_motor.py Normal file
View File

@ -0,0 +1,210 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
'''
# @Time : 2026/1/5 15:50
# @Author : reenrr
# @File : stepper_motor.py
# @Desc : 控制步进电机从初始位置移动10cm,移动后回到初始位置
'''
import time
from periphery import GPIO
import logging
# ------------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）
# ------------ 日志+参数配置 ------------
script_dir = os.path.dirname(os.path.abspath(__file__))
log_file_path = os.path.join(script_dir, "stepper_motor.log")
logging.basicConfig(
level=logging.INFO,
format='[%(asctime)s.%(msecs)03d] [%(levelname)s] %(message)s',
datefmt='%Y-%m-%d %H:%M:%S',
handlers=[
logging.StreamHandler(),
logging.FileHandler(log_file_path, encoding='utf-8')
]
)
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，）
: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"""
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)
logging.info(f"PUL引脚初始化完成：{self.pul_pin} 引脚")
logging.info(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:
logging.info("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]:
logging.info(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)
logging.info(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 ===")
# 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）
logging.info(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
logging.info("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")
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()
logging.info("\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）")
# 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()
#---------控制步进电机外部接口--------------
def stepper_motor_control():
motor = None
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 ===")
# 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:
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")
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")
if __name__ == '__main__':
stepper_motor_control()