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gpio: only setmode if it hasn't been set yet

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This commit is contained in:
𝑀𝒶𝓇𝒾𝓈𝒶
2023-10-29 20:56:03 -03:00
parent 11b2c845ac
commit 7df3639923
4 changed files with 17 additions and 14 deletions
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21
motor_passo/motor.py
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@@ -13,12 +13,15 @@ class Motor:
_step_configs: list[list[int]] = field(default_factory=lambda: [
[[1, 0, 0], [0, 1, 0], [0, 0, 1]],
])
_next_step: int = 0
_period: int = 3
def __post_init__(self) -> None:
self.set_speed(4)
def setup(self) -> None:
gpio.setmode(gpio.BCM)
if not gpio.getmode():
gpio.setmode(gpio.BCM)
for pin in self.pins:
gpio.setup(pin, gpio.OUT)
@@ -28,22 +31,18 @@ class Motor:
direction = int(steps / abs(steps))
steps = abs(steps)
if direction > 0:
_steps = range(0, steps)
else:
_steps = range(steps, 0, -1)
for i in _steps:
self._step(i % 3)
for i in range(steps):
self._step(direction)
sleep(self._delay)
def set_speed(self, rpm: int) -> None:
self._delay = 60 / self.rev_steps / rpm
def _step(self, step_num: int):
assert (step_num >= 0 and step_num < 3)
def _step(self, direction: int):
print(self._next_step, self._next_step % self._period)
conf = self._step_configs[0][step_num]
conf = self._step_configs[0][self._next_step % self._period]
self._next_step += direction
for p, c in zip(self.pins, conf):
gpio.output(p, c)