292 lines
12 KiB
Python
292 lines
12 KiB
Python
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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'''
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# @Time : 2026/1/5 16:18
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# @Author : reenrr
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# @File : test.py
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# @Desc : 步进电机添加记录脉冲数量（防止断电情况）
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'''
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import time
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import json
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import os
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from periphery import GPIO
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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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PUL_Pin = 32
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# 2. 方向（DIR）引脚配置 → GPIO33
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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，新手建议500~2000，最大200KHz）
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# 4. 计数持久化配置
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COUNT_FILE = os.path.join(os.path.dirname(os.path.abspath(__file__)), "motor_pulse_count.json")
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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）
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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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初始化步进电机控制器
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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，新手建议500~2000，最大200KHz）
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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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# 硬件配置参数
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self.pul_pin = pul_pin
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self.dir_pin = dir_pin
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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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# GPIO对象初始化
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self.pul_gpio = None
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self.dir_gpio = None
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# 脉冲计数相关（核心：记录已发送的脉冲数）
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self.current_pulse_count = 0 # 本次旋转已发送的脉冲数
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self.total_pulse_history = self._load_pulse_count() # 历史总脉冲数（从文件加载）
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self.current_rotate_target = 0 # 本次旋转的目标脉冲数
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# 初始化GPIO
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self._init_gpio()
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def _load_pulse_count(self):
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"""加载历史脉冲计数（程序启动时执行）"""
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try:
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if os.path.exists(COUNT_FILE):
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with open(COUNT_FILE, "r", encoding="utf-8") as f:
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data = json.load(f)
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# 返回历史总脉冲数（默认0）
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return int(data.get("total_pulses", 0))
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except Exception as e:
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print(f"[WARN] 加载历史计数失败：{e}，将从0开始计数")
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return 0
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def _save_pulse_count(self):
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"""保存当前总脉冲数到文件（持久化）"""
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try:
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with open(COUNT_FILE, "w", encoding="utf-8") as f:
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json.dump({
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"total_pulses": self.total_pulse_history,
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"update_time": time.strftime("%Y-%m-%d %H:%M:%S", time.localtime())
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}, f, ensure_ascii=False, indent=2)
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except Exception as e:
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print(f"[ERROR] 保存计数失败：{e}")
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def _init_gpio(self):
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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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# 初始化方向引脚（输出模式）
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self.dir_gpio = GPIO(self.dir_pin, "out")
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# 初始电平置低（避免电机误动作）
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self.pul_gpio.write(False)
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self.dir_gpio.write(False)
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print(f"[OK] PUL引脚初始化完成：{self.pul_pin} 引脚")
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print(f"[OK] DIR引脚初始化完成：{self.dir_pin} 引脚")
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print(
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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")
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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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if rounds <= 0:
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print("[ERROR] 圈数必须为正数")
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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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print(f"[ERROR] 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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"""
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控制电机旋转（支持正反转，实时记录脉冲数）
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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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"""
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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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return
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# 重置本次旋转的计数
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self.current_pulse_count = 0
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# 计算本次旋转的目标脉冲数
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self.current_rotate_target = int(rounds * self.pulses_per_round)
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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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self.dir_gpio.write(self.clockwise_level)
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print(f"\n=== 顺时针旋转 {rounds} 圈 ===")
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else: # 逆时针
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self.dir_gpio.write(self.counter_clockwise_level)
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print(f"\n=== 逆时针旋转 {rounds} 圈 ===")
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# 计算总脉冲数和时序（精准控制，避免丢步）
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total_pulses = self.current_rotate_target
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pulse_period = 1.0 / self.pulse_frequency # 脉冲周期（秒）
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half_period = pulse_period / 2 # 占空比50%（MA860H最优）
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print(f"目标脉冲数：{total_pulses} | 频率：{self.pulse_frequency}Hz | 周期：{pulse_period * 1000:.2f}ms")
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start_time = time.perf_counter() # 高精度计时（避免丢步）
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try:
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# 发送脉冲序列（核心：占空比50%的方波，实时计数）
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for _ in range(total_pulses):
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# 高电平
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self.pul_gpio.write(True)
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# 精准延时（比time.sleep稳定，适配高频脉冲）
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while time.perf_counter() - start_time < half_period:
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pass
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# 低电平
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self.pul_gpio.write(False)
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# 更新下一个脉冲的起始时间
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start_time += pulse_period
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# 🌟 核心：累加本次脉冲计数
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self.current_pulse_count += 1
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self.total_pulse_history += 1
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# 每发送SAVE_INTERVAL个脉冲，保存一次计数（减少IO开销）
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if self.current_pulse_count % SAVE_INTERVAL == 0:
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self._save_pulse_count()
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print(
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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}")
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except Exception as e:
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# 🌟 关键：异常发生时（如断电前的程序崩溃），立即保存当前计数
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self._save_pulse_count()
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# 计算已完成的圈数
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completed_rounds = self.current_pulse_count / self.pulses_per_round
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remaining_pulses = self.current_rotate_target - self.current_pulse_count
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remaining_rounds = remaining_pulses / self.pulses_per_round
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print(f"\n[ERROR] 旋转过程中异常：{e}")
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print(f"[INFO] 异常时已发送脉冲：{self.current_pulse_count} → 已完成圈数：{completed_rounds:.2f}")
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print(f"[INFO] 剩余未发送脉冲：{remaining_pulses} → 剩余圈数：{remaining_rounds:.2f}")
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print(
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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}")
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raise # 抛出异常，让上层处理
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def get_current_status(self):
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"""获取当前电机状态（脉冲数、圈数）"""
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return {
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"total_pulses": self.total_pulse_history,
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"total_rounds": self.total_pulse_history / self.pulses_per_round,
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"last_rotate_completed_pulses": self.current_pulse_count,
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"last_rotate_completed_rounds": self.current_pulse_count / self.pulses_per_round,
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"last_rotate_target_pulses": self.current_rotate_target,
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"last_rotate_target_rounds": self.current_rotate_target / self.pulses_per_round
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}
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def reset_count(self):
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"""重置累计计数（按需使用，如电机归位后）"""
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self.total_pulse_history = 0
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self._save_pulse_count()
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print("[INFO] 累计脉冲计数已重置为0")
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def stop(self):
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"""紧急停止（置低脉冲引脚）"""
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if self.pul_gpio:
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self.pul_gpio.write(False)
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# 停止时保存当前计数
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self._save_pulse_count()
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print("[STOP] 电机已停止，当前计数已保存")
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def close(self):
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"""释放GPIO资源"""
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# 安全释放GPIO资源（关键：避免引脚电平残留）
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if self.pul_gpio:
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self.pul_gpio.write(False) # 脉冲引脚置低
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self.pul_gpio.close()
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print("\n[OK] PUL引脚已关闭（电平置低）")
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if self.dir_gpio:
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self.dir_gpio.write(False) # 方向引脚置低
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self.dir_gpio.close()
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print("[OK] DIR引脚已关闭（电平置低）")
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# 关闭时保存最终计数
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self._save_pulse_count()
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print(
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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}")
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# 重置GPIO对象
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self.pul_gpio = None
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self.dir_gpio = None
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def __del__(self):
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"""析构函数：确保资源释放"""
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self.close()
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# 使用示例
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def motor_demo():
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"""电机控制示例"""
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motor = None
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try:
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# 创建电机实例（使用默认配置）
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motor = StepperMotor()
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print("\n=== 步进电机控制程序启动 ===")
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# 打印初始状态
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init_status = motor.get_current_status()
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print(f"[INIT] 初始状态 → 累计圈数：{init_status['total_rounds']:.2f} 圈")
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while True:
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# 靠近电机方向 逆时针
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motor.rotate(rounds=10.0, direction=motor.COUNTER_CLOCKWISE)
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time.sleep(5) # 暂停5秒
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# 远离电机方向 顺时针
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motor.rotate(rounds=10.0, direction=motor.CLOCKWISE)
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time.sleep(5) # 暂停5秒
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except PermissionError:
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print("\n[ERROR] 权限不足：请用 sudo 运行！")
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print("命令：sudo python3 double_direction_motor.py")
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except ImportError:
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print("\n[ERROR] 缺少依赖：请安装python-periphery")
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print("命令：pip install python-periphery")
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except KeyboardInterrupt:
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print("\n[INFO] 用户手动停止程序")
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except Exception as e:
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print(f"\n[ERROR] 程序异常：{str(e)}")
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finally:
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if motor:
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# 打印最终状态
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final_status = motor.get_current_status()
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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")
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motor.close()
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print("[OK] 程序退出完成")
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if __name__ == '__main__':
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motor_demo() |