Adding the possibility to drive a stepper motor

src/pymodaq_plugins_arduino/daq_move_plugins/daq_move_StepperMotor.py

@@ -0,0 +1,126 @@
+from typing import Union, List, Dict, Optional
+from pymodaq.control_modules.move_utility_classes import (
+    DAQ_Move_base, comon_parameters_fun, main, DataActuatorType, DataActuator
+)
+from pymodaq_gui.parameter import Parameter
+from pymodaq_plugins_arduino.hardware.arduino_telemetrix import Arduino
+from pymodaq_plugins_arduino.utils import Config
+
+config = Config()
+
+
+class DAQ_Move_StepperMotor(DAQ_Move_base):
+    """Plugin to control stepper motor using Arduino controller and PyMoDAQ.
+
+    This object inherits all functionalities to communicate with PyMoDAQ’s DAQ_Move module through inheritance via
+    DAQ_Move_base. It makes a bridge between the DAQ_Move module and the Python wrapper of a particular instrument.
+
+    Use the arduino_telemetrix wrapper to communicate with the Arduino Board.
+    Telemetrix supports up to 4 stepper motors, but this plugin currently drives a single axis.
+    It does not consider the daisy chain option: only one controller.
+    Moves are non-blocking and can be stopped with the Stop button.
+    There is no encoder: the position is the step counter of the Arduino, reset to 0 at initialization.
+    Tested with Arduino Uno and one motor NEMA17 (1 axis).
+    PyMoDAQ version during the test was PyMoDAQ==5.3.2.
+    The operating system used was Windows 11.
+    Telemetrix4Arduino has to be uploaded on the Arduino board.
+
+    Attributes
+    ----------
+    controller: object
+        The particular object that allows communication with the hardware, in general, a Python wrapper around the
+        hardware library.
+    """
+    _axis_names: Union[List[str], Dict[str, int]] = {'Stepper': config('stepper', 'name')}
+    _controller_units: Union[str, Dict[str, str]] = {'Stepper': 'count'}
+    _epsilons: Union[float, Dict[str, float]] = {'Stepper': 1}
+    data_actuator_type = DataActuatorType.DataActuator
+
+    params = [
+        {
+            'title': 'Ports:',
+            'name': 'com_port',
+            'type': 'list',
+            'value': config('com_port'),
+            'limits': Arduino.COM_PORTS,
+        }
+    ] + comon_parameters_fun(axis_names=_axis_names)
+
+    def ini_attributes(self):
+        self.controller: Optional[Arduino] = None
+
+    def get_actuator_value(self) -> DataActuator:
+        """Get the current position of the motor, in steps, with scaling conversion."""
+        pos = DataActuator(data=self.controller.get_stepper_position(),
+                           units=self.axis_unit)
+        pos = self.get_position_with_scaling(pos)
+        return pos
+
+    def close(self):
+        """Terminate the communication with the Arduino."""
+        if self.controller is not None:
+            self.controller.shutdown()
+
+    def commit_settings(self, param: Parameter):
+        """Apply the consequences of a change of value in the detector settings.
+
+        Parameters
+        ----------
+        param: Parameter
+            A given parameter (within detector_settings) whose value has been changed by the user.
+        """
+        pass
+
+    def ini_stage(self, controller=None):
+        """Actuator communication initialization.
+
+        Parameters
+        ----------
+        controller: object
+            Custom object of a PyMoDAQ plugin (Slave case). None if only one actuator by controller (Master case).
+
+        Returns
+        -------
+        info: str
+        initialized: bool
+            False if initialization failed otherwise True.
+        """
+        if self.is_master:
+            self.controller = Arduino(com_port=self.settings['com_port'])
+            self.controller.initialize_stepper_motor(
+                config('stepper', 'pins', 'pul_pin'),
+                config('stepper', 'pins', 'dir_pin'),
+                config('stepper', 'pins', 'ena_pin'),
+            )  # Pulse, direction, enable pins
+        else:
+            self.controller = controller
+
+        info = "Stepper motor connected with config file"
+        initialized = self.controller.stepper_motor is not None
+        return info, initialized
+
+    def move_abs(self, value: DataActuator):
+        """Move the motor to the absolute target defined by value."""
+        value = self.check_bound(value)
+        self.target_value = value
+        value = self.set_position_with_scaling(value)
+        self.controller.move_stepper_to_position(value.value(self.axis_unit))
+
+    def move_rel(self, value: DataActuator):
+        """Move the motor by the relative amount defined by value."""
+        self.move_abs(self.current_value + value)
+
+    def move_home(self):
+        """Move the motor back to its reference position (step 0)."""
+        home = DataActuator(data=0, units=self.axis_unit)
+        self.target_value = self.get_position_with_scaling(home)
+        self.controller.move_stepper_to_position(0)
+
+    def stop_motion(self):
+        """Stop the motor immediately, then emit the move_done signal"""
+        self.controller.stop_stepper()
+        self.move_done()
+
+
+if __name__ == '__main__':
+    main(__file__)

src/pymodaq_plugins_arduino/hardware/arduino_telemetrix.py

@@ -1,5 +1,5 @@
 import numbers
-from threading import Lock
+from threading import Lock, Event
 
 from pyvisa import ResourceManager
 from telemetrix import telemetrix
@@ -27,6 +27,8 @@ def __init__(self, *args, **kwargs):
                                         3: 0,
                                         4: 0,
                                         5: 0}  # Initialized dictionary for 6 analog channels
+        self.stepper_motor = None
+        self.position = 0
 
     @staticmethod
     def round_value(value):
@@ -96,6 +98,49 @@ def servo_move_degree(self, pin: int, value: float):
         self.pin_values_output[pin] = value
         lock.release()
 
+    # Stepper motor methods
+    def initialize_stepper_motor(self, pulse_pin, direction_pin, enable_pin=7):
+        """ Initialize the stepper motor with the given pins """
+        self.stepper_motor = self.set_pin_mode_stepper(interface=1, pin1=pulse_pin, pin2=direction_pin)
+        self.enable = enable_pin
+        self.set_pin_mode_digital_output(self.enable)  # Set the enable pin as digital output
+        self.digital_write(self.enable, 1)  # Disable the motor driver to avoid electrical consumption
+        self.stepper_set_current_position(self.stepper_motor, 0)  # Set the current position to 0
+
+    def move_stepper_to_position(self, position: float, max_speed=200, acceleration=400):
+        """ Start moving the stepper motor to the specified position, without waiting for the end """
+        if self.stepper_motor is None:
+            raise ValueError("Stepper motor not initialized. Call initialize_stepper_motor first.")
+        self.stepper_set_max_speed(self.stepper_motor, max_speed)
+        self.stepper_set_acceleration(self.stepper_motor, acceleration)
+        self.stepper_move_to(self.stepper_motor, int(position))
+        self.digital_write(self.enable, 0)  # Enable the motor driver
+        self.stepper_run(self.stepper_motor, completion_callback=self._stepper_move_completed)
+
+    def _stepper_move_completed(self, data):
+        """ Called by Telemetrix when the motor has reached its target """
+        self.digital_write(self.enable, 1)  # Disable the motor driver to avoid electrical consumption
+
+    def stop_stepper(self):
+        """ Stop the stepper motor immediately and disable its driver """
+        if self.stepper_motor is not None:
+            self.stepper_stop(self.stepper_motor)
+            self.digital_write(self.enable, 1)  # Disable the motor driver to avoid electrical consumption
+
+    def get_stepper_position(self):
+        """ Retrieve the current position of the stepper motor """
+        position_event = Event()
+
+        def position_callback(data):
+            """ Store the current position of the stepper motor """
+            self.position = data[2]
+            position_event.set()
+
+        self.stepper_get_current_position(self.stepper_motor,
+                                          current_position_callback=position_callback)
+        position_event.wait()
+        return self.position
+
 
 if __name__ == '__main__':
     import time

src/pymodaq_plugins_arduino/resources/config_template.toml

@@ -19,4 +19,11 @@ rows = 2
 [servo]
 pin = 2
 pos_1 = 55
-pos_2 = 80
+pos_2 = 80
+
+[stepper]
+name = 0
+[stepper.pins]
+ena_pin = 7
+pul_pin = 8
+dir_pin = 9