initial

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+
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.gitignore

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Cargo.toml

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+[package]
+name = "motor"
+version = "0.1.0"
+description = "raspberry pi stepper motor controller"
+edition = "2021"
+
+[dependencies]
+clap = { version = "3.2.10", features = ["derive"] }
+ctrlc = "3.2.2"
+wiringpi = "0.2.4"

run-on-pi.sh

@@ -0,0 +1,15 @@
+#!/bin/sh
+
+NAME="$(pwd | rg "/[^/]*\$" -o | replace "/" "")"
+
+echo "Running $NAME"
+
+set -x
+set -r
+
+cargo build -vvv --target arm-unknown-linux-gnueabihf $@
+
+scp "target/arm-unknown-linux-gnueabihf/release/$NAME" zenit.lan:.
+ssh zenit.lan "./$NAME"
+
+

src/main.rs

@@ -0,0 +1,88 @@
+mod motor;
+
+use crate::motor::{Motor, MotorConfig, MotorPinMappings, MotorPins};
+use clap::{Parser, Subcommand};
+use std::sync::atomic::{AtomicBool, Ordering};
+use std::time::Duration;
+
+#[derive(Parser)]
+struct Opt {
+    #[clap(subcommand)]
+    command: Command,
+}
+
+#[derive(Subcommand)]
+enum Command {
+    /// Reset motor pins, making sure the motor is off
+    Reset,
+
+    /// Turn the motor
+    Turn {
+        /// The direction to turn
+        #[clap(subcommand)]
+        direction: Direction,
+
+        /// The number of full stepper motor steps to turn, if not specified the motor will turn
+        /// forever
+        #[clap(long, short)]
+        steps: Option<usize>,
+
+        /// The time in milliseconds between each tick of the stepper motor
+        #[clap(long, short, default_value = "7")]
+        motor_sleep_time: u64,
+    },
+}
+
+#[derive(Clone, Copy, Subcommand)]
+pub enum Direction {
+    Left,
+    Right,
+}
+
+fn main() {
+    let opt = Opt::parse();
+    let exit = Box::leak(Box::new(AtomicBool::new(false)));
+
+    ctrlc::set_handler(|| {
+        exit.store(true, Ordering::Release);
+    })
+    .expect("Error setting Ctrl-C handler");
+
+    let pi = wiringpi::setup();
+
+    const PIN_MAPPINGS: MotorPinMappings = [0, 2, 3, 4];
+
+    match &opt.command {
+        Command::Reset => {
+            let _ = MotorPins::new(&pi, PIN_MAPPINGS);
+        }
+        Command::Turn {
+            direction,
+            steps,
+            motor_sleep_time,
+        } => {
+            let motor_config = MotorConfig {
+                pin_mappings: PIN_MAPPINGS,
+                sleep_time: Duration::from_millis(*motor_sleep_time),
+            };
+
+            let mut motor = Motor::new(&pi, &motor_config);
+            for i in 0.. {
+                if exit.load(Ordering::Acquire) {
+                    break;
+                }
+
+                motor.spin_step(*direction);
+                if i % 100 == 0 {
+                    println!("{i}");
+                }
+
+                if let Some(steps) = steps {
+                    if i >= *steps {
+                        break;
+                    }
+                }
+            }
+        }
+    }
+}

src/motor.rs

@@ -0,0 +1,65 @@
+use crate::Direction;
+use std::thread::sleep;
+use std::time::Duration;
+use wiringpi::pin::{self, OutputPin, Value::*};
+use wiringpi::WiringPi;
+
+pub struct Motor {
+    pins: MotorPins,
+    sleep_time: Duration,
+}
+
+pub struct MotorConfig {
+    pub pin_mappings: [u16; 4],
+    pub sleep_time: Duration,
+}
+
+pub struct MotorPins {
+    pins: [OutputPin<pin::WiringPi>; 4],
+}
+
+pub type MotorPinMappings = [u16; 4];
+
+impl MotorPins {
+    pub fn new(wiringpi: &WiringPi<pin::WiringPi>, pin_mappings: MotorPinMappings) -> Self {
+        MotorPins {
+            pins: pin_mappings.map(|id| wiringpi.output_pin(id)),
+        }
+    }
+
+    pub fn set(&mut self, values: [pin::Value; 4]) {
+        for (pin, &value) in self.pins.iter_mut().zip(values.iter()) {
+            pin.digital_write(value);
+        }
+    }
+}
+
+impl Motor {
+    pub fn new(wiringpi: &WiringPi<pin::WiringPi>, config: &MotorConfig) -> Self {
+        let pins = MotorPins::new(wiringpi, config.pin_mappings);
+        Motor {
+            sleep_time: config.sleep_time,
+            pins,
+        }
+    }
+
+    pub fn spin_step(&mut self, direction: Direction) {
+        let mut pin_states = [High, Low, Low, Low];
+
+        for _ in 0..pin_states.len() {
+            self.pins.set(pin_states);
+            match direction {
+                Direction::Right => pin_states.rotate_right(1),
+                Direction::Left => pin_states.rotate_left(1),
+            }
+            sleep(self.sleep_time);
+        }
+    }
+}
+
+impl Drop for MotorPins {
+    fn drop(&mut self) {
+        eprintln!("Resetting motor");
+        self.set([Low, Low, Low, Low])
+    }
+}