Motor_control.py

import time
from Bipolar_Stepper_Motor_Class import Bipolar_Stepper_Motor
from math import sqrt


def GCD(a, b):  # greatest common diviser
    while b:
        a, b = b, a % b
    return a


def LCM(a, b):  # least common multipler
    return a*b/GCD(a, b)


def sign(a):  # return the sign of number a
    if a > 0:
        return 1
    elif a < 0:
        return -1
    else:
        return 0


def Motor_Step(stepper1, step1, stepper2, step2):
    #   control stepper motor 1 and 2 simultaneously
    #   stepper1 and stepper2 are objects of Bipolar_Stepper_Motor class
    #   direction is reflected in the polarity of [step1] or [step2]

    dir1 = sign(step1)  # get dirction from the polarity of argument [step]
    dir2 = sign(step2)

    step1 = abs(step1)
    step2 = abs(step2)

# [total_micro_step] total number of micro steps
# stepper motor 1 will move one step every [micro_step1] steps
# stepper motor 2 will move one step every [micro_step2] steps
# So [total_mirco_step]=[micro_step1]*[step1] if step1<>0  [total_micro_step]=[micro_step2]*[step2] if step2<>0

    if step1 == 0:
        total_micro_step = step2
        micro_step2 = 1
        # set [micro_step1]>[total_micro_step], so stepper motor will not turn
        micro_step1 = step2+100
    elif step2 == 0:
        total_micro_step = step1
        micro_step1 = 1
        micro_step2 = step1+100
    else:
        total_micro_step = LCM(step1, step2)
        micro_step1 = total_micro_step/step1
        micro_step2 = total_micro_step/step2

    # i is the iterator for the micro_step. i cannot start from 0
    for i in range(1, int(total_micro_step)+1):
        if ((i % micro_step1) == 0):  # motor 1 need to turn one step
            stepper1.move(dir1, 1)

        if ((i % micro_step2) == 0):  # motor 2 need to turn one step
            stepper2.move(dir2, 1)

    return 0