add motor playground

playgrounds/motor_playground.py

@@ -0,0 +1,56 @@
+import pigpio
+import time
+
+# Pin numbers (BCM)
+DIR_PIN = 11
+STEP_PIN = 9
+EN_PIN = 10
+
+# Connect to pigpio daemon
+pi = pigpio.pi()
+if not pi.connected:
+    exit()
+
+# Set up pins
+pi.set_mode(DIR_PIN, pigpio.OUTPUT)
+pi.set_mode(STEP_PIN, pigpio.OUTPUT)
+pi.set_mode(EN_PIN, pigpio.OUTPUT)
+
+def move_motor(steps, direction=True, step_delay_us=10):
+    """
+    Moves the motor a specific number of steps.
+    :param steps: Number of step pulses.
+    :param direction: True for one way, False for the other.
+    :param step_delay_us: Microseconds between rising edges (controls speed).
+    """
+    # Enable motor driver (LOW = enabled)
+    pi.write(EN_PIN, 0)
+
+    # Set direction
+    pi.write(DIR_PIN, 1 if direction else 0)
+
+    # Create pulse waveform
+    pulses = []
+    for _ in range(steps):
+        pulses.append(pigpio.pulse(1 << STEP_PIN, 0, step_delay_us))   # STEP high
+        pulses.append(pigpio.pulse(0, 1 << STEP_PIN, step_delay_us))   # STEP low
+
+    pi.wave_clear()
+    pi.wave_add_generic(pulses)
+    wave_id = pi.wave_create()
+
+    if wave_id >= 0:
+        pi.wave_send_once(wave_id)
+        while pi.wave_tx_busy():
+            time.sleep(0.01)
+
+        pi.wave_delete(wave_id)
+
+    # Optional: disable motor
+    pi.write(EN_PIN, 1)
+
+# Example: Move 200 steps forward with 1ms step pulse (i.e., ~500 steps/sec)
+move_motor(1600, direction=True, step_delay_us=200)
+
+# Clean up
+pi.stop()