Python • Struggling with GPIOZero for Motor Control Using TB6600 Microstep Driver

Code:

import tkinter as tkfrom gpiozero import OutputDevice, Motorfrom time import sleep# Initialize the Direction, Pulse, and Enable pinsDIR = OutputDevice(17)  # Direction pinPUL = OutputDevice(18)  # Pulse pinENA = OutputDevice(27)  # Enable pin# Initialize motorsmotor_left = Motor(5, 6)  # Left motor (example)motor_right = Motor(12, 16)  # Right motor (example)# Create the main window using Tkinterroot = tk.Tk()root.title("Motor Control")# Function to set direction and pulse for forward movementdef move_forward():    DIR.value = True  # Set direction to clockwise    ENA.on()  # Enable motor    for _ in range(100):  # Example: send 100 pulses        PUL.on()        sleep(0.001)  # Pulse duration (adjust as needed)        PUL.off()# Function to set direction and pulse for backward movementdef move_backward():    DIR.value = False  # Set direction to counter-clockwise    ENA.on()  # Enable motor    for _ in range(100):  # Example: send 100 pulses        PUL.on()        sleep(0.001)  # Pulse duration (adjust as needed)        PUL.off()# Function to turn left (example - no pulse, just turning motors)def move_left():    ENA.on()  # Enable motor    motor_left.forward()# Function to turn right (example - no pulse, just turning motors)def move_right():    ENA.on()  # Enable motor    motor_right.forward()# Function to stop the robotdef stop_movement():    ENA.off()  # Disable motor to stop movement    motor_left.stop()    motor_right.stop()# Create buttons on the Tkinter windowforward_button = tk.Button(root, text="Forward", width=20, height=2, command=move_forward)forward_button.grid(row=0, column=1)backward_button = tk.Button(root, text="Backward", width=20, height=2, command=move_backward)backward_button.grid(row=2, column=1)left_button = tk.Button(root, text="Left", width=20, height=2, command=move_left)left_button.grid(row=1, column=0)right_button = tk.Button(root, text="Right", width=20, height=2, command=move_right)right_button.grid(row=1, column=2)stop_button = tk.Button(root, text="Stop", width=20, height=2, command=stop_movement)stop_button.grid(row=1, column=1)# Run the Tkinter event looproot.mainloop()

Code:

#!/usr/bin/python3import tkinter as tkfrom time import sleepimport subprocessimport threadingimport RPi.GPIO as GPIOimport os# Setup GPIO pins for Motor 1 and Motor 2direction_pin_1 = 5pulse_pin_1 = 6en_pin_1 = 26  # Enable pin for Motor 1cw_direction_1 = 0ccw_direction_1 = 1direction_pin_2 = 12pulse_pin_2 = 16en_pin_2 = 19  # Enable pin for Motor 2ccw_direction_2 = 1cw_direction_2 = 0# Buttons setupbutton1 = 21  # Mid Leftbutton2 = 8  # Mid Rightbutton3 = 7   # Top Frontbutton4 = 1   # Top Back# Step sequences for each motorSteps_Motor_1 = [0,4000,3700,3700,3700,3800,3800,3800]Steps_Motor_2 = [3300,2200,2300,2250,2300,2200,2200,3400,2200,2300,2250,2300,2200,2200]#Step Motor LogsMotor_Step_1 = 0Motor_Step_2 = 0detected_labels = ""Slot_names= [["slot_1","slot_2","slot_3","slot_4","slot_5","slot_6","slot_7","slot_57","slot_58","slot_59","slot_60","slot_61","slot_62","slot_63"],            ["slot_8","slot_9","slot_10","slot_11","slot_12","slot_13","slot_14","slot_64","slot_65","slot_66","slot_67","slot_68","slot_69","slot_70"],            ["slot_15","slot_16","slot_17","slot_18","slot_19","slot_20","slot_21","slot_71","slot_72","slot_73","slot_74","slot_75","slot_76","slot_77"],            ["slot_22","slot_23","slot_24","slot_25","slot_26","slot_27","slot_28","slot_78","slot_79","slot_80","slot_81","slot_82","slot_83","slot_84"],            ["slot_29","slot_30","slot_31","slot_32","slot_33","slot_34","slot_35","slot_85","slot_86","slot_87","slot_88","slot_89","slot_90","slot_91"],            ["slot_36","slot_37","slot_38","slot_39","slot_40","slot_41","slot_42","slot_92","slot_93","slot_94","slot_95","slot_96","slot_97","slot_98"],            ["slot_43","slot_44","slot_45","slot_46","slot_47","slot_48","slot_49","slot_99","slot_100","slot_101","slot_102","slot_103","slot_104","slot_105"],            ["slot_50","slot_51","slot_52","slot_53","slot_54","slot_55","slot_56","slot_106","slot_107","slot_108","slot_109","slot_110","slot_111","slot_112"]]# Set up GPIO modeGPIO.setmode(GPIO.BCM)GPIO.setup(direction_pin_1, GPIO.OUT)GPIO.setup(pulse_pin_1, GPIO.OUT)GPIO.setup(en_pin_1, GPIO.OUT)  # Set up enable pin for Motor 1GPIO.setup(direction_pin_2, GPIO.OUT)GPIO.setup(pulse_pin_2, GPIO.OUT)GPIO.setup(en_pin_2, GPIO.OUT)  # Set up enable pin for Motor 2GPIO.setup(button1, GPIO.IN, pull_up_down=GPIO.PUD_UP)GPIO.setup(button2, GPIO.IN, pull_up_down=GPIO.PUD_UP)GPIO.setup(button3, GPIO.IN, pull_up_down=GPIO.PUD_UP)GPIO.setup(button4, GPIO.IN, pull_up_down=GPIO.PUD_UP)# Disable motors initiallyGPIO.output(en_pin_1, GPIO.LOW)GPIO.output(en_pin_2, GPIO.LOW)# Function to spin the motor for a specified number of steps and directiondef spin_motor(direction_pin, pulse_pin, enable_pin, direction, steps):    GPIO.output(enable_pin, GPIO.LOW)  # Enable motor    GPIO.output(direction_pin, cw_direction_1 if direction == "CW" else ccw_direction_1)    for _ in range(steps):        GPIO.output(pulse_pin, GPIO.HIGH)        sleep(0.0001)        GPIO.output(pulse_pin, GPIO.LOW)        sleep(0.0005)    GPIO.output(enable_pin, GPIO.LOW)  # Disable motor after spin# Function to handle motor 1 continuous spinning until a button is presseddef continuous_spin_motor_1(direction):    global Motor_Step_1    print(Motor_Step_1)    GPIO.output(en_pin_1, GPIO.HIGH)  # Enable Motor 1    while GPIO.input(button3) == GPIO.HIGH if direction == "CW" else GPIO.input(button4) == GPIO.HIGH:        spin_motor(direction_pin_1, pulse_pin_1, en_pin_1, direction, 100)  # 450 steps for each spin        sleep(0.00005)    GPIO.output(en_pin_1, GPIO.LOW)  # Disable Motor 1    if direction == "CW":        Motor_Step_1 = 8    else:        Motor_Step_1 = 0    print(Motor_Step_1)# Function to handle motor 2 continuous spinning until a button is presseddef continuous_spin_motor_2(direction):    global Motor_Step_2    print(Motor_Step_2)    if direction == "CCW":        Motor_Step_2 = 15    else:        Motor_Step_2 = 0    print(Motor_Step_2)    GPIO.output(en_pin_2, GPIO.HIGH)  # Enable Motor 2 #motor 2 will move at 500 steps    while GPIO.input(button2) == GPIO.HIGH if direction == "CCW" else GPIO.input(button1) == GPIO.HIGH:        spin_motor(direction_pin_2, pulse_pin_2, en_pin_2, direction, 100)  # 450 steps for each spin        sleep(0.00005)    GPIO.output(en_pin_2, GPIO.LOW)  # Disable Motor 2# Function to start Motor 1 sequence with steps in Steps_Motor_1 arraydef start_motor_1_sequence():    GPIO.output(en_pin_1, GPIO.HIGH)  # Enable Motor 1    for steps in Steps_Motor_1:        spin_motor(direction_pin_1, pulse_pin_1, en_pin_1, "CW", steps)        sleep(1)  # Delay between steps    #continuous_spin_motor_1("CCW")    GPIO.output(en_pin_1, GPIO.LOW)  # Disable Motor 1# Function to start Motor 2 sequence with steps in Steps_Motor_2 arraydef start_motor_2_sequence():    GPIO.output(en_pin_2, GPIO.HIGH)  # Enable Motor 2    for steps in Steps_Motor_2:        spin_motor(direction_pin_2, pulse_pin_2, en_pin_2, "CCW", steps)        sleep(1)  # Delay between steps    #continuous_spin_motor_2("CW")    GPIO.output(en_pin_2, GPIO.LOW)  # Disable Motor 2# Function to handle Motor 2 steps (forward direction, CW)def start_motor_step_2(index, steps, direction_pin, pulse_pin, en_pin):    spin_motor(direction_pin_2, pulse_pin_2, en_pin_2, "CCW", steps)    sleep(1)  # Delay between steps    # After Motor 2 finishes its current array, hand over control to Motor 1    start_motor_step_1(index)# Function to handle Motor 1 steps (forward direction, CW)def start_motor_step_1(index):    if index < len(Steps_Motor_2):  # If Motor 2 has more steps        # Motor 1 runs all its steps in CW direction        for steps in Steps_Motor_1:            spin_motor(direction_pin_1, pulse_pin_1, en_pin_1, "CW", steps)  # CW        # When Motor 1 completes, switch to reverse direction (CCW)        start_motor_step_1_reverse(index)# Function to handle Motor 1 steps (reverse direction, CCW)def start_motor_step_1_reverse(index):    # Motor 1 runs its reverse steps in CCW direction    continuous_spin_motor_1("CCW")    # After Motor 1 completes the reverse sequence, call Motor 2 to move to the next array    if index < len(Steps_Motor_2) - 1:        start_motor_step_2(index + 1, Steps_Motor_2[index + 1], direction_pin_2, pulse_pin_2, en_pin_2)    else:        # If it's the last array, finish the cycle and go home        go_home()# Function to return both motors home (final step)def go_home():    # Final movement to home positions    continuous_spin_motor_2("CW")  # Motor 2 full rotation home    continuous_spin_motor_1("CCW")  # Motor 1 full reverse home    GPIO.output(en_pin_1, GPIO.LOW)  # Disable Motor 1    GPIO.output(en_pin_2, GPIO.LOW)  # Disable Motor 2# Start the sequencedef start_motor_sequencing():    # Wait for Gear1 to be LOW (reflected), then break and check Gear2    while True:        if ser.in_waiting > 0:  # Check if data is available on the serial port            response = ser.readline().decode().strip()  # Read and decode the response            print(f"Serial received: {response}")            # Split response into Command and Output            if "Gear1" in response:                command, output = response.split(",")  # Split into command and output                print("Gear FOUND")                if command == "Gear":  # Check if command is "Gear1"                    while output != "Done":  # Keep checking until Output is "LOW"                        if ser.in_waiting > 0:  # Check if data is available on the serial port                            response = ser.readline().decode().strip()  # Read and decode the response                            # Split response into Command and Output                            if "," in response:                                command, output = response.split(",")                                print(f"Command: {command}, Output: {output}")                                break # Split into command and output                        if output == "LOW":                            print("Gear1 is LOW. Proceeding to check Gear2...")                            break  # Exit the loop to proceed to checking Gear2                        else:                            print(f"Command: {command}, Output: {output}")                else:                    print("Gear1 not found. Waiting for Gear1...")        else:            print("No data available from serial port.")        sleep(0.1)  # Avoid busy waiting    print("DONE!")    sleep(100)    GPIO.output(en_pin_1, GPIO.HIGH)  # Enable Motor 1    GPIO.output(en_pin_2, GPIO.HIGH)  # Enable Motor 2    spin_motor(direction_pin_1, pulse_pin_1, en_pin_1, "CW", 500) #motor 1 will move at 500 steps    spin_motor(direction_pin_2, pulse_pin_2, en_pin_2, "CCW", 500) #motor 2 will move at 500 steps    continuous_spin_motor_2("CW")  # Motor 2 full rotation home    continuous_spin_motor_1("CCW")  # Motor 1 full reverse home    # Start the sequence by passing the first array of Motor_Step_2    Step_Sequence(direction_pin_1, pulse_pin_1, en_pin_1, direction_pin_2, pulse_pin_2, en_pin_2)def Next_Steps(direction_pin, pulse_pin, enable_pin):    global Motor_Step_1    global Motor_Step_2    if direction_pin == direction_pin_1:        print(Motor_Step_1)        if 0 >= Motor_Step_1 <= 7:            spin_motor(direction_pin, pulse_pin, enable_pin, "CW", Steps_Motor_1[Motor_Step_1])            Motor_Step_1 += 1        print(Motor_Step_1)    elif direction_pin == direction_pin_2:        print(Motor_Step_2)        if 0 <= Motor_Step_2 <= 15:            spin_motor(direction_pin, pulse_pin, enable_pin, "CCW", Steps_Motor_2[Motor_Step_2])            Motor_Step_2 += 1            print(Motor_Step_2)def Previous_Steps(direction_pin, pulse_pin, enable_pin):    global Motor_Step_1    global Motor_Step_2    if direction_pin == direction_pin_1:        print(Motor_Step_1)        if 0 <= Motor_Step_1 <= 8:            Motor_Step_1 -= 1            spin_motor(direction_pin, pulse_pin, enable_pin, "CCW", Steps_Motor_1[Motor_Step_1])    elif direction_pin == direction_pin_2:        print(Motor_Step_2)        if 0 <= Motor_Step_2 <= 14:            Motor_Step_2 -= 1            spin_motor(direction_pin, pulse_pin, enable_pin, "CW", Steps_Motor_2[Motor_Step_2])            print(Motor_Step_2)#new Step Sequence def Step_Sequence(direction_pin_1, pulse_pin_1, enable_pin_1, direction_pin_2, pulse_pin_2, enable_pin_2):    global Motor_Step_1    global Motor_Step_2       global Slot_names    for _ in range(8):  # Repeat 8 times for the full cycle        # Next step on Motor_Step_2 (1 step)        Next_Steps(direction_pin_2, pulse_pin_2, enable_pin_2)        spin_motor(direction_pin_1, pulse_pin_1, enable_pin_1, "CW", 1000)        # Next step on Motor_Step_1 (8 steps)        for _ in range(8):            Next_Steps(direction_pin_1, pulse_pin_1, enable_pin_1)            sleep(1)        # Next step on Motor_Step_2 (1 step)        Next_Steps(direction_pin_2, pulse_pin_2, enable_pin_2)        # Previous step on Motor_Step_1 (8 steps)        for _ in range(8):            Previous_Steps(direction_pin_1, pulse_pin_1, enable_pin_1)            sleep(1)        # Next step on Motor_Step_2 (1 step)        Next_Steps(direction_pin_2, pulse_pin_2, enable_pin_2)        # Next step on Motor_Step_1 (8 steps)        for _ in range(8):            Next_Steps(direction_pin_1, pulse_pin_1, enable_pin_1)            sleep(1)        # Next step on Motor_Step_2 (1 step)        Next_Steps(direction_pin_2, pulse_pin_2, enable_pin_2)        # Previous step on Motor_Step_1 (8 steps)        for _ in range(8):            Previous_Steps(direction_pin_1, pulse_pin_1, enable_pin_1)            sleep(1)        # Repeat for the next cycle# GUI setuproot = tk.Tk()root.title("Motor Control UI")root.geometry("800x480")# Motor 1 Controlsmotor1_frame = tk.LabelFrame(root, text="Motor 1 Controls", padx=10, pady=10)motor1_frame.pack(fill="both", expand=True, padx=10, pady=10)motor1_home_button = tk.Button(motor1_frame, text="Home", command=lambda: threading.Thread(target=continuous_spin_motor_1, args=("CCW",)).start())motor1_home_button.pack(side=tk.LEFT, padx=5, pady=5)motor1_cw_button = tk.Button(motor1_frame, text="Previous", command=lambda: threading.Thread(target=Previous_Steps, args=(direction_pin_1, pulse_pin_1, en_pin_1)).start())motor1_cw_button.pack(side=tk.LEFT, padx=5, pady=5)motor1_ccw_button = tk.Button(motor1_frame, text="Next", command=lambda: threading.Thread(target=Next_Steps, args=(direction_pin_1, pulse_pin_1, en_pin_1)).start())motor1_ccw_button.pack(side=tk.LEFT, padx=5, pady=5)motor1_start_button = tk.Button(motor1_frame, text="Start Motor 1", command=lambda: threading.Thread(target=start_motor_1_sequence).start())motor1_start_button.pack(side=tk.LEFT, padx=5, pady=5)motor1_last_button = tk.Button(motor1_frame, text="Last", command=lambda: threading.Thread(target=continuous_spin_motor_1, args=("CW",)).start())motor1_last_button.pack(side=tk.LEFT, padx=5, pady=5)# Motor 2 Controlsmotor2_frame = tk.LabelFrame(root, text="Motor 2 Controls", padx=10, pady=10)motor2_frame.pack(fill="both", expand=True, padx=10, pady=10)motor2_home_button = tk.Button(motor2_frame, text="Home", command=lambda: threading.Thread(target=continuous_spin_motor_2, args=("CW",)).start())motor2_home_button.pack(side=tk.LEFT, padx=5, pady=5)motor2_cw_button = tk.Button(motor2_frame, text="Previous", command=lambda: threading.Thread(target=Previous_Steps, args=(direction_pin_2, pulse_pin_2, en_pin_2)).start())motor2_cw_button.pack(side=tk.LEFT, padx=5, pady=5)motor2_ccw_button = tk.Button(motor2_frame, text="Next", command=lambda: threading.Thread(target=spin_motor, args=(direction_pin_2, pulse_pin_2, en_pin_2, "CW", 100)).start())motor2_ccw_button.pack(side=tk.LEFT, padx=5, pady=5)motor2_start_button = tk.Button(motor2_frame, text="Start Motor 2", command=lambda: threading.Thread(target=start_motor_2_sequence).start())motor2_start_button.pack(side=tk.LEFT, padx=5, pady=5)motor2_last_button = tk.Button(motor2_frame, text="Last", command=lambda: threading.Thread(target=continuous_spin_motor_2, args=("CCW",)).start())motor2_last_button.pack(side=tk.LEFT, padx=5, pady=5)# Start allstart_frame = tk.LabelFrame(root, text="Start Controls", padx=10, pady=10)start_frame.pack(fill="both", expand=True, padx=10, pady=10)start_button = tk.Button(start_frame, text="Start Sequence", command=lambda: threading.Thread(target=start_motor_sequencing).start())start_button.pack(side=tk.LEFT, padx=5, pady=5)root.mainloop()# Clean up GPIO settings when the application is closedGPIO.cleanup()