Module PMD1608Wrap :: Class Stepper

Class Stepper

object --+
         |
        Stepper

Control a 2-Y stepper motor via PMD1608. This is for a Muirhead Vactric 23MR302 motor controlled via the ANGEL stepper motor driver.

Instance Methods

[hide private]

__init__(self)
x.__init__(...) initializes x; see help(type(x)) for signature

source code

reset_angle(self)
Set current angle as zero angle.

source code

get_angle(self)
Return the current angle achieved.

source code

current_off(self)
Turn off all current to motor.

source code

set_mode(self, mode)
Set full or half step mode.

source code

set_wait(self, wait)
Set milliseconds to wait after every step.

source code

step_forward(self)
Step forward (clockwise) one step.

source code

step_backward(self)
Step backwards (widdershins) one step.

source code

steps(self, nsteps)
Move nsteps forward (nsteps>0) or backwards (nsteps<0).

source code

step_angle(self, angle)
Move by angle (forwards or backwards).

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goto_angle(self, angle, hold=False)
Go to a specified angle.

source code

waitms(self, waitfor)

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Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

Properties

[hide private]

Inherited from object: __class__

Method Details

[hide private]

init(self)
(Constructor)

source code

x.__init__(...) initializes x; see help(type(x)) for signature

Overrides: object.__init__: (inherited documentation)

set_wait(self, wait)

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Set milliseconds to wait after every step. Limits acceleration (sort of).

goto_angle(self, angle, hold=False)

source code

Go to a specified angle. Return the angular positioning error. If hold True, maintain current in the coils. In that case, the motors holding torque should be needed to turn the motor shaft with an external torque. Otherwise, turn off current to the coils, in which case the (lower) detent torque should suffice to turn the shaft.

Class Stepper

__init__(self) (Constructor)

set_wait(self, wait)

goto_angle(self, angle, hold=False)

init(self)
(Constructor)