Merge pull request #576 from adafruit/Raspberry_Pi_Stepper_Motors

Raspberry pi stepper motors

Author: ladyada

Raspberry_Pi_Stepper_Motors/README.md

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+# Raspberry_Pi_Stepper_Motors
+
+Code to accompany this tutorial:
+https://learn.adafruit.com/adafruits-raspberry-pi-lesson-10-stepper-motors

Raspberry_Pi_Stepper_Motors/Raspberry_Pi_Stepper_Motors-Cobbler-Plus-ULN2803A.fzz

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+import time
+import board
+import digitalio
+
+enable_pin = digitalio.DigitalInOut(board.D18)
+coil_A_1_pin = digitalio.DigitalInOut(board.D4)
+coil_A_2_pin = digitalio.DigitalInOut(board.D17)
+coil_B_1_pin = digitalio.DigitalInOut(board.D23)
+coil_B_2_pin = digitalio.DigitalInOut(board.D24)
+
+enable_pin.direction = digitalio.Direction.OUTPUT
+coil_A_1_pin.direction = digitalio.Direction.OUTPUT
+coil_A_2_pin.direction = digitalio.Direction.OUTPUT
+coil_B_1_pin.direction = digitalio.Direction.OUTPUT
+coil_B_2_pin.direction = digitalio.Direction.OUTPUT
+
+enable_pin.value = True
+
+def forward(delay, steps):
+    i = 0
+    while i in range(0, steps):
+        setStep(1, 0, 1, 0)
+        time.sleep(delay)
+        setStep(0, 1, 1, 0)
+        time.sleep(delay)
+        setStep(0, 1, 0, 1)
+        time.sleep(delay)
+        setStep(1, 0, 0, 1)
+        time.sleep(delay)
+        i += 1
+
+def backwards(delay, steps):
+    i = 0
+    while i in range(0, steps):
+        setStep(1, 0, 0, 1)
+        time.sleep(delay)
+        setStep(0, 1, 0, 1)
+        time.sleep(delay)
+        setStep(0, 1, 1, 0)
+        time.sleep(delay)
+        setStep(1, 0, 1, 0)
+        time.sleep(delay)
+        i += 1
+
+def setStep(w1, w2, w3, w4):
+    coil_A_1_pin.value = w1
+    coil_A_2_pin.value = w2
+    coil_B_1_pin.value = w3
+    coil_B_2_pin.value = w4
+
+while True:
+    user_delay = input("Delay between steps (milliseconds)?")
+    user_steps = input("How many steps forward? ")
+    forward(int(user_delay) / 1000.0, int(user_steps))
+    user_steps = input("How many steps backwards? ")
+    backwards(int(user_delay) / 1000.0, int(user_steps))