github.com/euphoria-laxis/stepper-motors

stepper-motors

Golang stepper motor library for Raspberry Pi.

Installation

go get -u github.com/euphoria-laxis/stepper-motors

Usages

Prerequisites

To run this library you first need to initialize GPIO. This library uses stianeikeland/go-rpio/v4, you can visit this repository for more information. To initialize pins you can do like this:

package main

import (
    "log"
	
    "github.com/stianeikeland/go-rpio/v4"
)

func main () {
    if err := rpio.Open(); err != nil {
        log.Fatal("rpio.Open() failed")
    }
}

Don't forget to close the library once you've finished using it. To do it just add :

package main

import (
    "log"
	
    "github.com/stianeikeland/go-rpio/v4"
)

func main () {
    err := rpio.Open()
    if err != nil {
        log.Fatal("rpio.Open() failed")
    }
    // ...
    // Your own stuff...
    // ...
    err = rpio.Close()
    if err != nil {
        log.Fatal("rpio.Close() failed")
    }
}

Running a stepper motor

The struct StepperMotor musts always be initialised using the 'constructor' NewStepperMotor. The only required parameter is a function to set GPIO you want to use (GPIO pins are set using BCM numbers) as following :

package main

import (
	"log"

	"github.com/euphoria-laxis/stepper-motors/stepper"
)

func main () {
	var smgpios = [4]int{17, 18, 27, 22}
	// Create stepper.StepperMotor instance
	sm := stepper.NewStepperMotor(
		stepper.SetGPIOs(smgpios),
	)
}

Once created you can run the stepper motor using the method Run(direction Direction, angle uint, speed Speed). The parameters structs Direction and Speed values can be found in the library.

• Direction values :
  • DirectionClock
  • DirectionCounterClock
• Speed values :
  • Speed20
  • Speed40
  • Speed60
  • Speed80
  • Speed100

You can run the method as following :

package main

import (
	"log"
	"time"

	"github.com/euphoria-laxis/stepper-motors/stepper"
)

func main () {
	var smgpios = [4]int{17, 18, 27, 22}
	// Create stepper.StepperMotor instance
	sm := stepper.NewStepperMotor(
		stepper.SetGPIOs(smgpios),
	)
	sm.Run(stepper.DirectionClock, 180, stepper.Speed40)
	stepper.Wait(1 * time.Second) // wait 1sec after running the stepper motor
}

This will rotate the motor forward (clockwise) to 180° at 40% speed.

Examples

You can check the examples in examples folder. To run the examples you will have to connect the stepper motors to your raspberry pi as following :

You will need to ruin the binary with root privileges to access the GPIOs. To build the examples and run them just use :

mkdir build
go build -o build/two_steppers examples/two_steppers/two_steppers.go
./build/two_steppers # don't forget to run this with root privileges.

This should move the 2 stepper motors at 270°.

Contribution

This library is maintained by Euphoria Laxis.

You are free to contribute by submitting a pull request, I will review it before merging, I might contact you if I need more information before merging the PR into the main branch.

LICENSE

This project is under MIT License.