dunkirk.sh
a scrappy gimbal that insults you in shakespearean english
feat: move firmware to firmware dir
-134
code.py
-134
code.py
···
1
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import sys
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import board
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import time
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import digitalio
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import supervisor
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7
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# Define pins for stepper motors
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motor1_step = digitalio.DigitalInOut(board.GP11)
9
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motor1_step.direction = digitalio.Direction.OUTPUT
10
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motor1_dir = digitalio.DigitalInOut(board.GP10)
11
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motor1_dir.direction = digitalio.Direction.OUTPUT
12
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motor2_step = digitalio.DigitalInOut(board.GP8)
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motor2_step.direction = digitalio.Direction.OUTPUT
14
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motor2_dir = digitalio.DigitalInOut(board.GP7)
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motor2_dir.direction = digitalio.Direction.OUTPUT
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enable = digitalio.DigitalInOut(board.GP9)
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enable.direction = digitalio.Direction.OUTPUT
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command_buffer = ""
20
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last_serial_check = time.monotonic()
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SERIAL_CHECK_INTERVAL = 0.1 # Check serial every 1ms
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# Enable motors
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enable.value = False
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print("Motors enabled")
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STEPS_PER_REVOLUTION = 200 # For a typical 1.8° stepper motor
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# Motor state tracking
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class MotorState:
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def __init__(self):
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self.running = False
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self.direction = True # True for forward
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self.speed = 1.0
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self.last_step_time = 0
36
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37
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motor1 = MotorState()
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motor2 = MotorState()
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40
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def calculate_step_delay(speed):
41
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return 1 / (STEPS_PER_REVOLUTION * speed)
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43
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def handle_command(command):
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parts = command.split()
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speed = 1 # Default speed
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if len(parts) > 1:
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try:
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speed = float(parts[1])
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except ValueError:
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print("Invalid speed value")
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return
52
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command = parts[0]
53
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54
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if command == "forward1":
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motor1.running = True
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motor1.direction = True
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motor1.speed = speed
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motor1_dir.value = True
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print(f"Moving motor 1 forward at {speed} rotations per second...")
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elif command == "forward2":
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motor2.running = True
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motor2.direction = True
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motor2.speed = speed
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motor2_dir.value = True
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print(f"Moving motor 2 forward at {speed} rotations per second...")
67
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68
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elif command == "reverse1":
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motor1.running = True
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motor1.direction = False
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motor1.speed = speed
72
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motor1_dir.value = False
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print(f"Moving motor 1 in reverse at {speed} rotations per second...")
74
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75
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elif command == "reverse2":
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motor2.running = True
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motor2.direction = False
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motor2.speed = speed
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motor2_dir.value = False
80
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print(f"Moving motor 2 in reverse at {speed} rotations per second...")
81
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82
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elif command == "stop1":
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motor1.running = False
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print("Motor 1 stopped")
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86
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elif command == "stop2":
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motor2.running = False
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print("Motor 2 stopped")
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90
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elif command == "stop":
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motor1.running = False
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motor2.running = False
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enable.value = True
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print("All motors stopped")
95
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96
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else:
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print("Unknown command. Use 'forward1/2 [speed]', 'reverse1/2 [speed]' or 'stop1/2'")
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99
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def step_motor(motor_state, step_pin):
100
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if not motor_state.running:
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return
102
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103
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current_time = time.monotonic()
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step_delay = calculate_step_delay(motor_state.speed)
105
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106
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if (current_time - motor_state.last_step_time) >= step_delay:
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step_pin.value = not step_pin.value # Toggle the pin
108
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motor_state.last_step_time = current_time
109
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110
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while True:
111
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current_time = time.monotonic()
112
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113
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# Check serial input less frequently
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if current_time - last_serial_check >= SERIAL_CHECK_INTERVAL:
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if supervisor.runtime.serial_bytes_available:
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byte = sys.stdin.read(1)
117
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118
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if byte in ('\x08', '\x7f'):
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if command_buffer:
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command_buffer = command_buffer[:-1]
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print('\x08 \x08', end='')
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elif byte == '\n' or byte == '\r':
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print()
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if command_buffer:
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handle_command(command_buffer.strip().lower())
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command_buffer = ""
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else:
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command_buffer += byte
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print(byte, end='')
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last_serial_check = current_time
131
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132
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# Handle motor stepping
133
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step_motor(motor1, motor1_step)
134
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step_motor(motor2, motor2_step)
+82
firmware/code.py
+82
firmware/code.py
···
1
+
import board
2
+
import time
3
+
import digitalio
4
+
import supervisor
5
+
6
+
class MotorState:
7
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def __init__(self, step_pin, dir_pin, min_delay=0.001):
8
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self.step_pin = step_pin
9
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self.dir_pin = dir_pin
10
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self.position = 0
11
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self.min_delay = min_delay
12
+
13
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def step(self):
14
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self.step_pin.value = True
15
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time.sleep(self.min_delay)
16
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self.step_pin.value = False
17
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time.sleep(self.min_delay)
18
+
19
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# Define pins for stepper motors
20
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motor1_step = digitalio.DigitalInOut(board.GP11)
21
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motor1_step.direction = digitalio.Direction.OUTPUT
22
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motor1_dir = digitalio.DigitalInOut(board.GP10)
23
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motor1_dir.direction = digitalio.Direction.OUTPUT
24
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motor2_step = digitalio.DigitalInOut(board.GP8)
25
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motor2_step.direction = digitalio.Direction.OUTPUT
26
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motor2_dir = digitalio.DigitalInOut(board.GP7)
27
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motor2_dir.direction = digitalio.Direction.OUTPUT
28
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enable = digitalio.DigitalInOut(board.GP9)
29
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enable.direction = digitalio.Direction.OUTPUT
30
+
31
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# Enable motors
32
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enable.value = False
33
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print("Motors enabled")
34
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35
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STEPS_PER_ROT = 200 * 16 # Steps per rotation
36
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37
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motor1 = MotorState(motor1_step, motor1_dir, 0.0001)
38
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motor2 = MotorState(motor2_step, motor2_dir, 0.0001)
39
+
40
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while True:
41
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if supervisor.runtime.serial_bytes_available:
42
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command = input().strip().lower()
43
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parts = command.split()
44
+
45
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if len(parts) != 2:
46
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print("Invalid command. Use '[motor#] [position/zero]'")
47
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continue
48
+
49
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motor_num = int(parts[0])
50
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target = parts[1]
51
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52
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if motor_num not in [1,2]:
53
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print("Invalid motor number. Use 1 or 2")
54
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continue
55
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56
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motor = motor1 if motor_num == 1 else motor2
57
+
58
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try:
59
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if target == "zero":
60
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motor.position = 0
61
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print(f"Motor {motor_num} position zeroed")
62
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continue
63
+
64
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target_pos = float(target) * STEPS_PER_ROT
65
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steps = int(target_pos - motor.position)
66
+
67
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if steps > 0:
68
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motor.dir_pin.value = True
69
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else:
70
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motor.dir_pin.value = False
71
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steps = -steps
72
+
73
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print(f"Moving motor {motor_num} to position {target} rotations...")
74
+
75
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for _ in range(steps):
76
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motor.step()
77
+
78
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motor.position = target_pos
79
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print(f"Motor {motor_num} movement complete")
80
+
81
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except ValueError:
82
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print("Invalid position. Use number or 'zero'")