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

motor_passo/encoder.py

@@ -11,6 +11,7 @@ class Encoder:
     _curr_steps: int = 0
 
     def setup(self):
+        if not gpio.getmode():
             gpio.setmode(gpio.BCM)
 
         gpio.setup(self.pin_a, gpio.IN)

motor_passo/exec/motor/__main__.py

@@ -7,7 +7,10 @@ def main():
     motor = Motor([13, 19, 26])
     motor.setup()
     motor.set_speed(10)
-    motor.step(24 * 2)
+
+    while True:
+        input()
+        motor.step(1)
 
 
 if __name__ == "__main__":

motor_passo/motor.py

@@ -13,11 +13,14 @@ 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:
+        if not gpio.getmode():
             gpio.setmode(gpio.BCM)
 
         for pin in self.pins:
@@ -28,22 +31,18 @@ class Motor:
         direction = int(steps / abs(steps))
         steps = abs(steps)
 
-        if direction > 0:
+        for i in range(steps):
-            _steps = range(0, steps)
+            self._step(direction)
-        else:
-            _steps = range(steps, 0, -1)
-
-        for i in _steps:
-            self._step(i % 3)
             sleep(self._delay)
 
     def set_speed(self, rpm: int) -> None:
         self._delay = 60 / self.rev_steps / rpm
 
-    def _step(self, step_num: int):
+    def _step(self, direction: int):
-        assert (step_num >= 0 and step_num < 3)
+        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)

motor_passo/utils.py

@@ -1,7 +1,7 @@
 import signal
 
 
-def _cleanup(sig, frame):
+def _cleanup(*args, **kwargs):
     import sys
     import RPi.GPIO as gpio
     gpio.cleanup()