Stepper Motor – 360 degree rotation over one hour

Designed to mount a time lapse camera for a 360 degree rotation over 1 hour.  That's 1 degree rotation every 10 seconds.

Uses Adafruit LCD i2C board to display rotation information.


#!/usr/bin/env python

import time
from datetime import datetime
import RPi.GPIO as GPIO

from Adafruit_CharLCDPlate import Adafruit_CharLCDPlate

lcd = Adafruit_CharLCDPlate()
lcd.begin(16, 2)
lcd.clear()
lcd.backlight(lcd.ON)

# Use BCM GPIO references
# instead of physical pin numbers
GPIO.setmode(GPIO.BCM)

# Define GPIO signals to use
# Pins 18,22,24,26
# GPIO24,GPIO25,GPIO8,GPIO7
StepPins = [24,25,8,7]

# Set all pins as output
for pin in StepPins:
  print "Setup pins"
  GPIO.setup(pin,GPIO.OUT)
  GPIO.output(pin, False)

# Define some settings
StepCounter = 0
WaitTime = 0.87890625
DegreesRun = 0
TotalSteps = 0
start_time = time.time()
ShouldBeTime=0

# Define simple sequence
StepCount1 = 4
Seq1 = []
Seq1 = range(0, StepCount1)
Seq1[0] = [1,0,0,0]
Seq1[1] = [0,1,0,0]
Seq1[2] = [0,0,1,0]
Seq1[3] = [0,0,0,1]

# Define advanced sequence
# as shown in manufacturers datasheet
StepCount2 = 8
Seq2 = []
Seq2 = range(0, StepCount2)
Seq2[0] = [1,0,0,0]
Seq2[1] = [1,1,0,0]
Seq2[2] = [0,1,0,0]
Seq2[3] = [0,1,1,0]
Seq2[4] = [0,0,1,0]
Seq2[5] = [0,0,1,1]
Seq2[6] = [0,0,0,1]
Seq2[7] = [1,0,0,1]

# Choose a sequence to use
Seq = Seq2
StepCount = StepCount2

# Start main loop

while StepCounter < 4096:

    for pin in range(0, 4):
        xpin = StepPins[pin]
        if Seq[StepCounter][pin]!=0:
            #print " Step %i Enable %i - Pin %s" %(StepCounter,xpin, x)
            GPIO.output(xpin, True)
        else:
            GPIO.output(xpin, False)

    StepCounter += 1

    # If we reach the end of the sequence
    # start again
    if (StepCounter==StepCount):
        StepCounter = 0
    if (StepCounter < 0):
        StepCounter = StepCount

    # Wait before moving on
    time.sleep(WaitTime)

    DegreesRun += 0.087890625
    TotalSteps += 1
    RuningTime = time.time() - start_time
    ShouldBeTime += WaitTime

    y=time.strftime('%H:%M:%S', time.gmtime(RuningTime))
    z=time.strftime('%H:%M:%S', time.gmtime(ShouldBeTime))

    lcd.clear()
    lcd.message(str(y) + " S=" + str(TotalSteps) + "\n")
    lcd.message(str(z) + " DR=" + str(round(DegreesRun,1)))

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