Add basic Motor class

motor_passo/motor.py

@@ -0,0 +1,44 @@
+import RPi.GPIO as gpio
+
+from dataclasses import dataclass, field
+from time import sleep
+
+
+@dataclass
+class Motor:
+    pins: list[int] = field(default_factory=list)
+    rev_steps: int = 24
+
+    _delay: int = 0
+
+    def __post_init__(self) -> None:
+        self.set_speed(4)
+
+    def setup(self) -> None:
+        for pin in self.pins:
+            gpio.setmode(pin, gpio.OUT)
+
+    def step(self, steps: int) -> None:
+        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)
+            sleep(self._delay)
+
+    def set_speed(self, rpm: int) -> None:
+        self._delay = 60 * 1000 / self.rev_steps / rpm
+
+    def _step(self, step_num: int):
+        assert (step_num >= 0 and step_num < 3)
+
+        confs = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
+        conf = confs[step_num]
+
+        for p, c in zip(self.pins, conf):
+            gpio.output(p, c)