m5stack_uiflow_stepmotor_01.py のバックアップ(No.1)

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from m5stack import *
from m5ui import *
from uiflow import *
import module
import time
 
setScreenColor(0x565600)
 
a_true = None
b_true = None
c_true = None
r_dir = None
in_chars = None
line = None
 
stepmotor = module.get(module.STEPMOTORDRIVER)
 
label0 = M5TextBox(169, 47, "LIMIT SW1:", lcd.FONT_Default, 0xFFFFFF, rotate=0)
label1 = M5TextBox(15, 68, "LIMIT SW2:", lcd.FONT_Default, 0xFFFFFF, rotate=0)
label2 = M5TextBox(169, 68, "LIMIT SW3:", lcd.FONT_Default, 0xFFFFFF, rotate=0)
label3 = M5TextBox(15, 89, "LIMIT SW4:", lcd.FONT_Default, 0xFFFFFF, rotate=0)
label4 = M5TextBox(169, 89, "ALL SW:", lcd.FONT_Default, 0xFFFFFF, rotate=0)
label5 = M5TextBox(15, 24, "FAULT X:", lcd.FONT_Default, 0xFFFFFF, rotate=0)
label8 = M5TextBox(15, 119, "FW VER:", lcd.FONT_Default, 0xFFFFFF, rotate=0)
label9 = M5TextBox(169, 119, "I2C ADD:", lcd.FONT_Default, 0xFFFFFF, rotate=0)
title0 = M5Title(title="STEP MOTOR CONTROL", x=75, fgcolor=0xFFFFFF, bgcolor=0xa80000)
label10 = M5TextBox(260, 47, "label10", lcd.FONT_Default, 0xFFFFFF, rotate=0)
label11 = M5TextBox(110, 68, "label11", lcd.FONT_Default, 0xFFFFFF, rotate=0)
label12 = M5TextBox(260, 68, "label12", lcd.FONT_Default, 0xFFFFFF, rotate=0)
label13 = M5TextBox(110, 89, "label13", lcd.FONT_Default, 0xFFFFFF, rotate=0)
label14 = M5TextBox(260, 89, "label14", lcd.FONT_Default, 0xFFFFFF, rotate=0)
label15 = M5TextBox(110, 23, "label15", lcd.FONT_Default, 0xFFFFFF, rotate=0)
label18 = M5TextBox(98, 119, "label18", lcd.FONT_Default, 0xFFFFFF, rotate=0)
label19 = M5TextBox(253, 119, "label19", lcd.FONT_Default, 0xFFFFFF, rotate=0)
label20 = M5TextBox(51, 217, "stop", lcd.FONT_Default, 0x00ff00, rotate=0)
label21 = M5TextBox(132, 217, "reverse", lcd.FONT_Default, 0x00ff00, rotate=0)
label22 = M5TextBox(228, 217, "rotate", lcd.FONT_Default, 0x00ff00, rotate=0)
label6 = M5TextBox(15, 150, "label6", lcd.FONT_Default, 0xFFFFFF, rotate=0)
 
from numbers import Number
 
def xprintln(x):
   uart1.write(x+"\r\n")
 
# Describe this function...
def switch_loop():
  global a_true, b_true, c_true, r_dir, in_chars, line, uart1
  if a_true:
    stepmotor.resetMotor(0, 1)
    a_true = 0
    return True
  if b_true:
    r_dir=1-r_dir
    stepmotor.setStepDir(0, r_dir)
    b_true = 0
    return True
  if c_true:
    #xprintln("c_true=true")
    stepmotor.resetMotor(0, 0)
    c_true = 0
    return True
  if uart1.any():
    in_chars = (uart1.read()).decode()
    if '\r' != in_chars:
      line = (str(line) + str(in_chars))
    else:
      label6.setText(str(line))
      parse_command(line)
      line = ''
      xprintln("")
    uart1.write(bytes(in_chars.encode()))
    #label6.setText(str(line))
    return True
  return False
 
def buttonA_wasPressed():
  global a_true, b_true, c_true, r_dir, in_chars, line, uart1
  a_true = (a_true if isinstance(a_true, Number) else 0) + 1
  pass
btnA.wasPressed(buttonA_wasPressed)
 
def buttonB_wasPressed():
  global a_true, b_true, c_true, r_dir, in_chars, line, uart1
  b_true = (b_true if isinstance(b_true, Number) else 0) + 1
  pass
btnB.wasPressed(buttonB_wasPressed)
 
def buttonC_wasPressed():
  global a_true, b_true, c_true, r_dir, in_chars, line, uart1
  c_true = (c_true if isinstance(c_true, Number) else 0) + 1
  pass
btnC.wasPressed(buttonC_wasPressed)
 
def move_left_for_t(t):
   global a_true, b_true, c_true, r_dir
   time_now=time.time()*1000
   last_time=time_now
   stepmotor.setStepDir(0, 0)
   stepmotor.resetMotor(0,0)
   move_for_t(t,time_now,last_time)
 
def move_right_for_t(t):
   global a_true, b_true, c_true, r_dir
   time_now=time.time()*1000
   last_time=time_now
   stepmotor.setStepDir(0, 1)
   stepmotor.resetMotor(0,0)
   move_for_t(t,time_now,last_time)
 
def move_for_t(t,time_now,last_time):
    while time_now - last_time <t:
      if switch_loop():
         return
      time.sleep(0.001)
      time_now=time.time()*1000
    stepmotor.resetMotor(0,1)
 
#parse command
def parse_key(key,inx,rest):
    keylen=len(key)
    inlen=len(inx)
    if inx.startswith(key):
        rest[0]=inx[keylen:inlen]
        return True
    rest[0]=inx
    return False
 
def parse_p_int(command,ix,rest):
    #xprintln("parse_p_int("+command+",ix,rest)")
    i=0
    c=command[0]
    if c in ['0','1','2','3','4','5','6','7','8','9']:
        clen=len(command)
        while True:
            i=i*10+int(c)
            command=command[1:clen]
            clen=len(command)
            if clen==0:
                ix[0]=i
                rest[0]=""
                return True
            #xprintln("parse_p_int command="+command)
            c=command[0]
            if not (c in ['0','1','2','3','4','5','6','7','8','9']):
                ix[0]=i
                rest[0]=command
                return True
    rest[0]=command
    ix[0]=0
    return False
 
def r_b(inx):
    rx=[""]
    while parse_key(" ",inx,rx):
        inx=rx[0]
    return rx[0]
 
def parse_String_Constant(inx,strc,rest):
    rx=[""]
    xstr=""
    if parse_key('"',inx,rx):
        inx=rx[0]
        fx=inx[0]
        xlen=len(inx)
        while fx!='"':
            if xlen==0:
                return False
            if fx=='\\':
                inx=inx[1:xlen]
            else:
                xstr=xstr+fx
            xlen=len(inx)
            inx=inx[1:xlen]
            fx=inx[0]
        if parse_key('"',inx,rx):
            strc[0]=xstr
            rest[0]=rx[0]
            return True
    return False
 
#
# command
#    rotate
#    reverse
#    stop
#
def parse_command(command):
    global a_true, b_true, c_true, r_dir, in_chars, line, uart1
    rest=[""]
    strc=[""]
    ix=[0]
    #command_field.delete(0,END)
    #command_field.insert(END,command)
    command=r_b(command)
    #xprintln("parse_command("+command+")")
    if parse_key("rotate",command,rest):
        #xprintln("parse_key(rotate "+command+","+rest[0]+")")
        c_true=1
        return True
    elif parse_key("reverse",command,rest):
        command=r_b(rest[0])
        b_true=1
        return True
    elif parse_key("left ",command,rest):
       command=r_b(rest[0])
       if parse_p_int(command,ix,rest):
          move_left_for_t(ix[0])
          return True
       return False
    elif parse_key("right ",command,rest):
       command=r_b(rest[0])
       if parse_p_int(command,ix,rest):
          move_right_for_t(ix[0])
          return True
       return False
    elif parse_key("stop",command,rest):
        a_true=1
        return True
 
a_true = 0
b_true = 0
c_true = 0
r_dir = 0
stepmotor.initDevice(0x27)
uart1 = machine.UART(1, tx=1, rx=3)
uart1.init(115200, bits=8, parity=None, stop=1)
xprintln("start m5stepmotor_06.py")
line = ''
stepmotor.setStepPulse(500, 0)
stepmotor.setStepDir(0, 1)
stepmotor.enableMotor(1)
label18.setText(str(stepmotor.readStatus(0XFE)))
label19.setText(str(stepmotor.readStatus(0XFF)))
stepmotor.resetMotor(0, 1)
while True:
  label10.setText(str(stepmotor.readPinStatus(0)))
  label11.setText(str(stepmotor.readPinStatus(1)))
  label12.setText(str(stepmotor.readPinStatus(2)))
  label13.setText(str(stepmotor.readPinStatus(3)))
  label14.setText(str(stepmotor.readIOstatus()))
  label15.setText(str(stepmotor.readFaultPinStatus(0)))
  switch_loop()
  #wait_ms(1)
  time.sleep(0.001)