import time
import threading
from http.server import BaseHTTPRequestHandler, HTTPServer
import RPi.GPIO as GPIO
# ================= GPIO SETUP =================
GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)
OUT1, OUT2, OUT3, OUT4 = 12, 11, 13, 15
PINS = [OUT1, OUT2, OUT3, OUT4]
for p in PINS:
GPIO.setup(p, GPIO.OUT)
GPIO.output(p, GPIO.LOW)
# ================= MOTOR SEQUENCE (same as motor_test) =================
SEQ_HALF = [
(1,0,0,0),
(1,0,1,0),
(0,0,1,0),
(0,1,1,0),
(0,1,0,0),
(0,1,0,1),
(0,0,0,1),
(1,0,0,1),
]
STEP_DELAY = 0.01
STEPS_90 = 100
motor_lock = threading.Lock()
def set_coils(s):
GPIO.output(OUT1, GPIO.HIGH if s[0] else GPIO.LOW)
GPIO.output(OUT2, GPIO.HIGH if s[1] else GPIO.LOW)
GPIO.output(OUT3, GPIO.HIGH if s[2] else GPIO.LOW)
GPIO.output(OUT4, GPIO.HIGH if s[3] else GPIO.LOW)
def step_motor_halfsteps(halfsteps, direction=+1):
"""
direction=+1 forward: SEQ_HALF[i % 8]
direction=-1 reverse: SEQ_HALF[(-i) % 8]
Exactly matches motor_test behavior.
"""
for i in range(halfsteps):
idx = (i % 8) if direction > 0 else ((-i) % 8)
set_coils(SEQ_HALF[idx])
time.sleep(STEP_DELAY)
# for p in PINS:
# GPIO.output(p, GPIO.LOW)
# ================= WEB PAGE =================
HTML = f"""
Project 1 – Grabber Control
Stepper Motor Grabber
90° = {STEPS_90} half-steps
Ready.
"""
class Handler(BaseHTTPRequestHandler):
def do_GET(self):
if self.path == "/":
self.send_response(200)
self.send_header("Content-Type", "text/html")
self.end_headers()
self.wfile.write(HTML.encode())
else:
self.send_response(404)
self.end_headers()
def do_POST(self):
with motor_lock:
if self.path == "/grab":
step_motor_halfsteps(STEPS_90, direction=+1)
msg = "Grab: rotated +90°"
elif self.path == "/release":
step_motor_halfsteps(STEPS_90, direction=-1)
msg = "Release: rotated -90°"
else:
self.send_response(404)
self.end_headers()
return
self.send_response(200)
self.send_header("Content-Type", "text/plain")
self.end_headers()
self.wfile.write(msg.encode())
def log_message(self, format, *args):
return
def main():
server = HTTPServer(("0.0.0.0", 8000), Handler)
print("Server running:")
print(" Local: http://127.0.0.1:8000/")
print(" Network: http://10.247.137.239:8000/")
try:
server.serve_forever()
except KeyboardInterrupt:
pass
finally:
server.server_close()
for p in PINS:
GPIO.output(p, GPIO.LOW)
GPIO.cleanup()
print("GPIO cleaned up.")
if __name__ == "__main__":
main()