adafruit-stepper-motor-hat

external links ¶

bugtracker
example-configs
source

installation ¶

The adafruit-stepper-motor-hat daemon can be installed using the following package managers:

PyPI

traits ¶

The adafruit-stepper-motor-hat daemon is composed of the following traits:

has-limits
has-position
is-daemon
is-homeable
uses-i2c
uses-serial

hardware ¶

The adafruit-stepper-motor-hat daemon has been tested with the following hardware:

adafruit/2348
raspberry-pi/4b

configuration ¶

Example configuration files.

enable (boolean) default: True
Disable this daemon. The kind entry-point will not attempt to start this daemon.
from is-daemon

i2c_addr (int) default: 96
I2C bus address.
from uses-i2c

limits (array) default: [-inf, inf]
Configuration limits are strictly optional.
from has-limits

log_level ({'name': 'level', 'symbols': ['debug', 'info', 'notice', 'warning', 'error', 'critical', 'alert', 'emergency'], 'type': 'enum'}) default: info
Set daemon log-level.
from is-daemon

log_to_file (boolean) default: False
Optionally force logging to a file.
from is-daemon

lower_limit_switch (limit_switch)

make (['null', 'string']) default: None
from is-daemon

microsteps (int) default: 16
Number of microsteps between full steps. Default is 16.

model (['null', 'string']) default: None
from is-daemon

out_of_limits (enum) default: closest
Control behavior of daemon when set_position is given a value outside of limits.
from has-limits

port (int)
TCP port for daemon to occupy.
from is-daemon

serial (['null', 'string']) default: None
Serial number for the particular device represented by the daemon
from is-daemon

stepper_index (int)

steps_per_unit (double) default: 0.5555555555556

style (step_style) default: DOUBLE
Style of step to take. Default is 'DOUBLE'.

units (string) default: deg

upper_limit_port (['null', 'limit_switch']) default: None

state ¶

The adafruit-stepper-motor-hat daemon will provide the following state information:

destination (double)
from has-position

hw_limits (array)
from has-limits

position (double)
from has-position

messages ¶

The adafruit-stepper-motor-hat daemon will expose the following public messages:

busy ➜ boolean
Returns true if daemon is currently busy.
from is-daemon

direct_serial_write ➜ null
Expose direct access to the serial port to clients. This should not be encouraged for normal use, but may be very important for debugging. If a device is expected to return data, it should be logged at the INFO level, not returned to the client. This is done to allow long tasks to be run asynchronously, and to explicitly discourage use of this method except when debugging. Setting `busy` to true is encouraged, but individual daemon writers should consider their own use case.
from uses-serial
parameters:

message (bytes)

get_config ➜ string
Full configuration for the individual daemon as defined in the TOML file. This includes defaults and shared settings not directly specified in the daemon-specific TOML table.
from is-daemon

get_config_filepath ➜ string
String representing the absolute filepath of the configuration file on the host machine.
from is-daemon

get_destination ➜ double
Get current daemon destination.
from has-position

get_limits ➜ {'items': 'double', 'type': 'array'}
Get daemon limits.Limits will be the intersection of config limits and driver limits (when appliciable).
from has-limits

get_position ➜ double
Get current daemon position.
from has-position

get_state ➜ string
Get version of the running daemon
from is-daemon

get_units ➜ ['null', 'string']
Get units of daemon. These units apply to the position and destination properties.
from has-position

home ➜ null
Initiates the homing procedure. The daemon will report as busy during the homing procedure. After the homing procedure is complete, the daemon will return to the current destination.
from is-homeable

id ➜ {'type': 'map', 'values': ['null', 'string']}
JSON object with information to identify the daemon, including name, kind, make, model, serial.
from is-daemon

in_limits ➜ boolean
Check if a given position is within daemon limits.
from has-limits
parameters:

position (double)

set_position ➜ null
Give the daemon a new destination, and begin motion towards that destination.
from has-position
parameters:

position (double)

set_relative ➜ double
Give the daemon a new destination relative to its current position. Daemon will immediately begin motion towards new destination. Returns new destination.
from has-position
parameters:

distance (double)

shutdown ➜ null
Cleanly shutdown (or restart) daemon.
from is-daemon
parameters:

restart (boolean) default: False

types ¶

The adafruit-stepper-motor-hat daemon uses the following avro types:

limit_switch (record)
fields:

pin (int)
GPIO Pin

invert (boolean) default: False

step_style (enum)
symbols: ['DOUBLE', 'SINGLE', 'INTERLEAVE', 'MICROSTEP']