for devs

This code sets up and controls a rotary table motor using Raspberry Pi GPIO pins. It reads the home position from a log file, moves the motor by a specified number of steps, and updates the new home position in the log file.

turn-table-and-save-steps-into-logfile.py

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+# Import required modules
+import time
+from time import sleep
+import RPi.GPIO as GPIO
+
+# Store payload value in the variable 'value'
+value = int(msg['payload'])
+
+# Define control pins for the rotary table motor
+control_pins = [26, 19, 13, 6]
+
+# Set up GPIO outputs on the Raspberry Pi
+GPIO.setwarnings(False)
+GPIO.setmode(GPIO.BCM)
+
+# Define a function to write data to a log file
+def write(parameter, value):
+    with open("/home/pi/shared/log/" + parameter + ".log", "w") as file:
+        file.write(str(value))
+
+# Define a function to read data from a log file
+def load(parameter):
+    with open("/home/pi/shared/log/" + parameter + ".log", "r") as file:
+        parameter = file.read()
+    return parameter
+
+# Load home position value from log file and store in 'homecounterTT'
+homecounterTT = int(load("homeTT"))
+
+# Set up motor control pins and initialize output to 0
+for pin in control_pins:
+    GPIO.setup(pin, GPIO.OUT)
+    GPIO.output(pin, 0)
+
+    # Define half-step sequence for motor control
+    halfstep_seq = [
+        [1, 0, 0, 1],
+        [0, 0, 0, 1],
+        [0, 0, 1, 1],
+        [0, 0, 1, 0],
+        [0, 1, 1, 0],
+        [0, 1, 0, 0],
+        [1, 1, 0, 0],
+        [1, 0, 0, 0],
+    ]
+
+# Move the motor by the number of steps specified in 'value'
+for i in range(value):
+    for halfstep in range(8):
+
+        # Iterate through each motor position in the sequence
+        for pin in range(4):
+            GPIO.output(control_pins[pin], halfstep_seq[halfstep][pin])
+
+        # Delay to allow for motor movement
+        time.sleep(0.001)
+
+# Calculate new home position and update log file
+newHome = homecounterTT - value
+write("homeTT", newHome)
+
+# Clean up GPIO pins
+GPIO.cleanup()
+
+# Return message
+return msg
+