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# Import required libraries
import sys
import time
import RPi.GPIO as GPIO
# Use BCM GPIO references
# instead of physical pin numbers
GPIO.setmode(GPIO.BCM)
# Define GPIO signals to use
# Physical pins 31,33,35,37
# GPIO06,GPIO13,GPIO19,GPIO26
StepPins = [06,13,19,26]
# Set all pins as output
for pin in StepPins:
print "Setup pins"
GPIO.setup(pin,GPIO.OUT)
GPIO.output(pin, False)
# Define advanced sequence
# as shown in manufacturers datasheet
Seq = [[1,0,0,1],
[1,0,0,0],
[1,1,0,0],
[0,1,0,0],
[0,1,1,0],
[0,0,1,0],
[0,0,1,1],
[0,0,0,1]]
StepCount = len(Seq)
StepDir = 1 # Set to 1 or 2 for clockwise
# Set to -1 or -2 for anti-clockwise
# Read wait time from command line
if len(sys.argv)>1:
WaitTime = int(sys.argv[1])/float(1000)
else:
WaitTime = 10/float(1000)
# Initialise variables
StepCounter = 0
# Start main loop
while True:
print StepCounter,
print Seq[StepCounter]
for pin in range(0,4):
xpin=StepPins[pin]# Get GPIO
if Seq[StepCounter][pin]!=0:
print " Enable GPIO %i" %(xpin)
GPIO.output(xpin, True)
else:
GPIO.output(xpin, False)
StepCounter += StepDir
# If we reach the end of the sequence
# start again
if (StepCounter>=StepCount):
StepCounter = 0
if (StepCounter<0):
StepCounter = StepCount+StepDir
# Wait before moving on
time.sleep(WaitTime)
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