//stepper.

py

import sys
import time
import select
from stepperpins import *
from gpio import *
def stepperExit (gpio):
gpioSetVal(gpio, val="0")
gpioUnexport(gpio)
return

def stepperInit (gpio):

gpioExport(gpio)
gpioSetDir(gpio, flag="out")
gpioSetVal(gpio, val="0")
return
def stepperOn (gpio):
gpioSetVal(gpio, val="1")
return
def stepperOff (gpio):
gpioSetVal(gpio, val="0")
return
def stepperInitAll():
stepperInit(str(STEPPER_1))
stepperInit(str(STEPPER_2))
stepperInit(str(STEPPER_3))
stepperInit(str(STEPPER_4))
def stepperExitAll():
stepperExit(str(STEPPER_1))
stepperExit(str(STEPPER_2))
stepperExit(str(STEPPER_3))
stepperExit(str(STEPPER_4))
print "\n=== Demonstration END ===\n"
return
def stepperSeq5():
stepperOn(str(STEPPER_1))
time.sleep(0.0001)
stepperOff(str(STEPPER_2))
time.sleep(0.0001)
stepperOn(str(STEPPER_3))
time.sleep(0.0001)
stepperOff(str(STEPPER_4))

time.sleep(0.0001)
return
def stepperSeq9():
stepperOn(str(STEPPER_1))
time.sleep(0.0001)
stepperOff(str(STEPPER_2))
time.sleep(0.0001)
stepperOff(str(STEPPER_3))
time.sleep(0.0001)
stepperOn(str(STEPPER_4))
time.sleep(0.0001)
return
def stepperSeq10():
stepperOff(str(STEPPER_1))
time.sleep(0.0001)
stepperOn(str(STEPPER_2))
time.sleep(0.0001)
stepperOff(str(STEPPER_3))
time.sleep(0.0001)
stepperOn(str(STEPPER_4))
time.sleep(0.0001)
return
def stepperSeq6():
stepperOff(str(STEPPER_1))
time.sleep(0.0001)
stepperOn(str(STEPPER_2))
time.sleep(0.0001)
stepperOn(str(STEPPER_3))
time.sleep(0.0001)
stepperOff(str(STEPPER_4))
time.sleep(0.0001)
return
def stepperDirLeft():
stepperSeq5()
time.sleep(0.01)
stepperSeq9()
time.sleep(0.01)
stepperSeq10()
time.sleep(0.01)
stepperSeq6()
time.sleep(0.01)
return

def stepperDirRight():
stepperSeq6()
time.sleep(0.01)
stepperSeq10()
time.sleep(0.01)
stepperSeq9()
time.sleep(0.01)
stepperSeq5()
time.sleep(0.01)
return
try:

print "\nStepper Motor Driver using Python\n"

print "-----------------------------------------------\n"
stepperInitAll()
while True:
for i in range(0, 12):
stepperDirLeft()
time.sleep(3)
for i in range(0, 12):
stepperDirRight()
time.sleep(3)

stepperExitAll
exit()
except KeyboardInterrupt:
stepperExitAll()
print "Program Exit due to CTRL-C"
exit()
sys.exit(0)
//gpio.py
import sys
import os
SYSFS_GPIO_DIR = "/sys/class/gpio"

def gpioUnexport (gpio):

try:
fo = open(SYSFS_GPIO_DIR + "/unexport","w")
fo.write(gpio)
fo.close()
return
except IOError:
return

def gpioExport (gpio):

try:
fo = open(SYSFS_GPIO_DIR + "/export","w")
fo.write(gpio)
fo.close()
return
except IOError:
return
def gpioSetDir (gpio, flag):
try:
fo = open(SYSFS_GPIO_DIR + "/gpio" + gpio + "/direction"
,"w")
fo.write(flag)
fo.close()
return
except IOError:
return
def gpioSetVal (gpio, val):
try:
fo = open(SYSFS_GPIO_DIR + "/gpio" + gpio + "/value" ,"w")
fo.write(val)
fo.close()
return
except IOError:
return
//stepperpins.py
LED_9 =
LED_10
LED_11
LED_12

STEPPER_1
STEPPER_2
STEPPER_3
STEPPER_4

(0 * 32) + 30
=
(2 * 32) + 2
=
(1 * 32) + 28
=
(2 * 32) + 3
=
=
=
=

LED_9
LED_10
LED_11
LED_12

#P9_11
#P8_07
#P9_12
#P8_08