Steppers work!

Author: tannewt

adafruit_motor/__init__.py

@@ -97,7 +97,6 @@ def _update_coils(self, *, microstepping=False):
 
         # Energize coils as appropriate:
         for i in range(4):
-            print(i, hex(duty_cycles[i]))
             self._coil[i].duty_cycle = duty_cycles[i]
 
     def onestep(self, *, direction=FORWARD, style=SINGLE):
@@ -138,15 +137,11 @@ def onestep(self, *, direction=FORWARD, style=SINGLE):
             elif style == SINGLE or style == DOUBLE:
                 step_size = full_step
 
-        print(step_size, MICROSTEP)
-
         if direction == FORWARD:
             self._current_microstep += step_size
         else:
             self._current_microstep -= step_size
 
-        print(self._current_microstep)
-
         # Now that we know our target microstep we can determine how to energize the four coils.
         self._update_coils(microstepping=style == MICROSTEP)
 

adafruit_motor/stepper.py

@@ -0,0 +1,38 @@
+# This example uses an Adafruit Stepper and DC Motor FeatherWing to run a DC Motor.
+#   https://www.adafruit.com/product/2927
+
+import time
+
+from board import *
+import busio
+
+# Import the PCA9685 module. Available in the bundle and here:
+#   https://github.com/adafruit/Adafruit_CircuitPython_PCA9685
+from adafruit_pca9685 import PCA9685
+
+from adafruit_motor import stepper
+
+i2c = busio.I2C(SCL, SDA)
+
+# Create a simple PCA9685 class instance for the Motor FeatherWing's default address.
+pca = PCA9685(i2c, address=0x60)
+pca.frequency = 1600
+
+# Motor 1 is channels 9 and 10 with 8 held high.
+# Motor 2 is channels 11 and 12 with 13 held high.
+# Motor 3 is channels 3 and 4 with 2 held high.
+# Motor 4 is channels 5 and 6 with 7 held high.
+
+pca.channels[7].duty_cycle = 0xffff
+pca.channels[2].duty_cycle = 0xffff
+stepper_motor = stepper.StepperMotor(pca.channels[4], pca.channels[3], pca.channels[5], pca.channels[6], microsteps=4)
+
+for i in range(100):
+    stepper_motor.onestep()
+    time.sleep(0.01)
+
+for i in range(100):
+    stepper_motor.onestep(direction=stepper.BACKWARD)
+    time.sleep(0.01)
+
+pca.deinit()