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lib/module: Add step motor driver module.
Signed-off-by: icyqwq <[email protected]>
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‎docs/en/module/index.rst‎

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rca.rst
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relay_2.rst
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rs232.rst
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step_motor_driver.rst

‎docs/en/module/step_motor_driver.rst‎

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StepMotorDriverModule
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=====================
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.. include:: ../refs/module.stepmotordrivermodule.ref
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StepMotor Driver Module 13.2 V1.1 is a stepper motor driver adapted to M5 main control, using STM32+HR8825 stepper motor drive scheme, providing 3-way bipolar stepper motor control interface.
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Support the following products:
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|StepMotorDriverModule|
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Micropython Example:
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.. literalinclude:: ../../../examples/module/step_motor_driver.py
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:language: python
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:linenos:
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UIFLOW2 Example:
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|example.png|
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.. only:: builder_html
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|step_motor_driver.m5f2|
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class StepMotorDriverModule
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---------------------------
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Constructors
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------------
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.. class:: StepMotorDriverModule(address, step_pin, dir_pin)
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Initialize the StepMotorDriverModule.
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:param hex address: The I2C address of the device.
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:param tuple step_pin: The step pin (X, Y, Z) of the motor.
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:param tuple dir_pin: The dir pin (X, Y, Z) of the motor.
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UIFLOW2:
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|init.png|
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Methods
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-------
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.. method:: StepMotorDriverModule.reset_motor(motor_id, state)
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Reset the motor.
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:param motor_id: The motor to reset.
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Options:
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- ``X``: StepMotorDriverModule.MOTOR_X
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- ``Y``: StepMotorDriverModule.MOTOR_Y
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- ``Z``: StepMotorDriverModule.MOTOR_Z
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:param bool state: The state of the motor.
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UIFLOW2:
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|reset_motor.png|
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.. method:: StepMotorDriverModule.set_motor_state(state)
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Enable or disable the motor.
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:param bool state: The state of the motor.
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UIFLOW2:
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|set_motor_state.png|
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.. method:: StepMotorDriverModule.set_microstep(step)
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Set the microstep.
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:param step: The microstep value.
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Options:
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- ``FULL``: StepMotorDriverModule.STEP_FULL
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- ``1/2``: StepMotorDriverModule.STEP1_2
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- ``1/4``: StepMotorDriverModule.STEP1_4
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- ``1/8``: StepMotorDriverModule.STEP1_8
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- ``1/16``: StepMotorDriverModule.STEP1_16
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- ``1/32``: StepMotorDriverModule.STEP1_32
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UIFLOW2:
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|set_microstep.png|
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.. method:: StepMotorDriverModule.set_motor_pwm_freq(motor_id, freq)
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Set the motor pwm freq.
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:param motor_id: The motor to set the freq.
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Options:
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- ``X``: StepMotorDriverModule.MOTOR_X
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- ``Y``: StepMotorDriverModule.MOTOR_Y
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- ``Z``: StepMotorDriverModule.MOTOR_Z
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:param int freq: The freq value.
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UIFLOW2:
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|set_motor_pwm_freq.png|
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.. method:: StepMotorDriverModule.set_motor_direction(motor_id, direction)
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Set the motor direction.
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:param motor_id: The motor to set the direction.
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Options:
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- ``X``: StepMotorDriverModule.MOTOR_X
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- ``Y``: StepMotorDriverModule.MOTOR_Y
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- ``Z``: StepMotorDriverModule.MOTOR_Z
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:param bool direction: The direction value.
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Options:
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- ``Positive``: 1
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- ``Negative``: 0
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UIFLOW2:
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|set_motor_direction.png|
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.. method:: StepMotorDriverModule.get_all_limit_switch_state()
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Get all io state.
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UIFLOW2:
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|get_all_limit_switch_state.png|
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.. method:: StepMotorDriverModule.get_limit_switch_state(switch_id)
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Get the io state.
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:param int switch_id: The io id.
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UIFLOW2:
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|get_limit_switch_state.png|
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.. method:: StepMotorDriverModule.get_fault_io_state(motor_id)
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Get the fault io state.
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:param int motor_id: The motor id.
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Options:
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- ``X``: StepMotorDriverModule.MOTOR_X
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- ``Y``: StepMotorDriverModule.MOTOR_Y
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- ``Z``: StepMotorDriverModule.MOTOR_Z
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UIFLOW2:
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|get_fault_io_state.png|
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.. method:: StepMotorDriverModule.motor_control(motor_id, state)
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Control the motor to rotate/stop.
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:param motor_id: The motor id.
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Options:
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- ``X``: StepMotorDriverModule.MOTOR_X
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- ``Y``: StepMotorDriverModule.MOTOR_Y
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- ``Z``: StepMotorDriverModule.MOTOR_Z
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:param bool state: The state value.
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Options:
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- ``Rotate``: 1
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- ``Stop``: 0
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UIFLOW2:
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|motor_control.png|
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.. method:: StepMotorDriverModule.get_firmware_version()
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Get the firmware version.
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UIFLOW2:
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|get_firmware_version.png|
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.. method:: StepMotorDriverModule.set_i2c_address(new_address)
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Set the i2c address.
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:param int new_address: The new address.
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UIFLOW2:
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|set_i2c_address.png|
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Constants
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---------
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.. data:: StepMotorDriverModule.MOTOR_X
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.. data:: StepMotorDriverModule.MOTOR_Y
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.. data:: StepMotorDriverModule.MOTOR_Z
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Motor IDs
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.. data:: StepMotorDriverModule.MOTOR_STATE_ENABLE
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.. data:: StepMotorDriverModule.MOTOR_STATE_DISABLE
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Motor states
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.. data:: StepMotorDriverModule.INPUT_REG
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.. data:: StepMotorDriverModule.OUTPUT_REG
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.. data:: StepMotorDriverModule.POLINV_REG
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.. data:: StepMotorDriverModule.CONFIG_REG
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.. data:: StepMotorDriverModule.FAULT_REG
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.. data:: StepMotorDriverModule.RESET_REG
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.. data:: StepMotorDriverModule.FIRM_REG
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.. data:: StepMotorDriverModule.I2C_REG
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Register addresses
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.. data:: StepMotorDriverModule.STEP_FULL
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.. data:: StepMotorDriverModule.STEP1_2
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.. data:: StepMotorDriverModule.STEP1_4
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.. data:: StepMotorDriverModule.STEP1_8
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.. data:: StepMotorDriverModule.STEP1_16
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.. data:: StepMotorDriverModule.STEP1_32
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Microstep values
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‎docs/en/refs/module.step_motor_driver.ref‎

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.. |StepMotorDriverModule| image:: https://static-cdn.m5stack.com/resource/docs/products/module/Stepmotor%20Driver%20Module13.2%20v1.1/img-c2b8ceac-b6be-4cec-9a15-228fcf8623e7.webp
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:target: https://docs.m5stack.com/en/module/Stepmotor%20Driver%20Module13.2%20v1.1
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:height: 200px
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:width: 200px
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.. |init.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/stepmotordrivermodule/init.png
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.. |reset_motor.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/stepmotordrivermodule/reset_motor.png
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.. |set_motor_state.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/stepmotordrivermodule/set_motor_state.png
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.. |set_microstep.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/stepmotordrivermodule/set_microstep.png
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.. |set_motor_pwm_freq.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/stepmotordrivermodule/set_motor_pwm_freq.png
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.. |set_motor_direction.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/stepmotordrivermodule/set_motor_direction.png
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.. |get_all_limit_switch_state.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/stepmotordrivermodule/get_all_limit_switch_state.png
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.. |get_limit_switch_state.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/stepmotordrivermodule/get_limit_switch_state.png
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.. |get_fault_io_state.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/stepmotordrivermodule/get_fault_io_state.png
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.. |motor_control.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/stepmotordrivermodule/motor_control.png
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.. |get_firmware_version.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/stepmotordrivermodule/get_firmware_version.png
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.. |set_i2c_address.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/stepmotordrivermodule/set_i2c_address.png
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.. |example.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/stepmotordrivermodule/example.png
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.. |step_motor_driver.m5f2| raw:: html
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<a
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href="https://uiflow2.m5stack.com/?example=https://raw.githubusercontent.com/m5stack/uiflow-micropython/develop/examples/module/step_motor_driver.m5f2"
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target="_blank"
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>
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step_motor_driver.m5f2
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</a>
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‎examples/module/step_motor_driver/step_motor_driver.m5f2‎

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‎examples/module/step_motor_driver/step_motor_driver.py‎

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import os, sys, io
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import M5
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from M5 import *
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from module import StepMotorDriverModule
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import time
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stepmotor_driver_0 = None
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DIR = None
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def setup():
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global stepmotor_driver_0, DIR
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M5.begin()
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Widgets.fillScreen(0x222222)
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stepmotor_driver_0 = StepMotorDriverModule(
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address=0x27, step_pin=(16, 12, 15), dir_pin=(17, 13, 0)
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)
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print(stepmotor_driver_0.get_all_limit_switch_state())
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print(stepmotor_driver_0.get_limit_switch_state(0))
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print(stepmotor_driver_0.get_fault_io_state(StepMotorDriverModule.MOTOR_X))
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print(stepmotor_driver_0.get_firmware_version())
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stepmotor_driver_0.reset_motor(
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StepMotorDriverModule.MOTOR_X, StepMotorDriverModule.MOTOR_STATE_ENABLE
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)
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stepmotor_driver_0.set_motor_state(StepMotorDriverModule.MOTOR_STATE_ENABLE)
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stepmotor_driver_0.set_microstep(StepMotorDriverModule.STEP_FULL)
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stepmotor_driver_0.set_motor_direction(StepMotorDriverModule.MOTOR_X, 1)
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stepmotor_driver_0.set_motor_pwm_freq(StepMotorDriverModule.MOTOR_X, 1000)
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stepmotor_driver_0.motor_control(StepMotorDriverModule.MOTOR_X, 1)
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DIR = 0
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38+
def loop():
39+
global stepmotor_driver_0, DIR
40+
M5.update()
41+
if DIR:
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stepmotor_driver_0.set_motor_direction(StepMotorDriverModule.MOTOR_X, 1)
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else:
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stepmotor_driver_0.set_motor_direction(StepMotorDriverModule.MOTOR_X, 0)
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DIR = not DIR
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time.sleep(2)
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48+
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if __name__ == "__main__":
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try:
51+
setup()
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while True:
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loop()
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except (Exception, KeyboardInterrupt) as e:
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try:
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from utility import print_error_msg
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print_error_msg(e)
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except ImportError:
60+
print("please update to latest firmware")

‎m5stack/libs/module/__init__.py‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -19,6 +19,7 @@
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"Relay4Module": "relay_4",
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"Relay2Module": "relay_2",
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"RS232Module": "rs232",
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"StepMotorDriverModule": "step_motor_driver",
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}
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# Lazy loader, effectively does:

‎m5stack/libs/module/manifest.py‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -22,6 +22,7 @@
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"relay_4.py",
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"relay_2.py",
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"rs232.py",
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"step_motor_driver.py",
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),
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base_path="..",
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opt=0,

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