python电机控制库_Micropython步进电机控制库

from time import ticks_us,ticks_cpu

import time

from machine import Pin

class Stepper():

def __init__(self,stepPin,directionPin,enablePin):

self.stepPin = Pin(stepPin,Pin.OUT)

self.directionPin = Pin(directionPin,Pin.OUT)

self.enablePin = Pin(enablePin,Pin.OUT)

self.done = True

self.debugModeFlag = False

self.stepsToGo = 0

self.stepsGone = 0

self.acceleration = 0.00

self.stepTime = 0.00

self.starttime = 0.00

self.stage1 = 0.00

self.stage2 = 0.00

self.stage1StepTime = 0.00

self.stage3StepTime = 0.00

self.nextStepTime = 0.00

self.now_time = 0.00

self.nextTimestamp = 0.00

def startup(self):

self.enablePin.value(0)

def shutdown(self):

self.enablePin.value(1)