MoTrak/movecamera.py at master · mplu/MoTrak · GitHub

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# Code coming from http://learn.adafruit.com/adafruits-raspberry-pi-lesson-10-stepper-motors?view=all
# to use GPIO with python, follow insctruction here http://learn.adafruit.com/adafruits-raspberry-pi-lesson-4-gpio-setup

import RPi.GPIO as GPIO
import time
import sys

GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)

enable_pin = 18
coil_A_1_pin = 21
coil_A_2_pin = 17
coil_B_1_pin = 23
coil_B_2_pin = 24

GPIO.setup(enable_pin, GPIO.OUT)
GPIO.setup(coil_A_1_pin, GPIO.OUT)
GPIO.setup(coil_A_2_pin, GPIO.OUT)
GPIO.setup(coil_B_1_pin, GPIO.OUT)
GPIO.setup(coil_B_2_pin, GPIO.OUT)

GPIO.output(enable_pin, 1)


def forward(delay, steps):
  for 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)

def backwards(delay, steps):
  for 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)


def setStep(w1, w2, w3, w4):
  GPIO.output(coil_A_1_pin, w1)
  GPIO.output(coil_A_2_pin, w2)
  GPIO.output(coil_B_1_pin, w3)
  GPIO.output(coil_B_2_pin, w4)


delay = 5
steps = int(sys.argv[1])

if steps > 0:
	#print 'move right'
	backwards(int(delay) / 1000.0, steps)
else:
	steps = 0 - steps
	#print 'move left'
	forward(int(delay) / 1000.0, steps)