1  # SPDX-FileCopyrightText: 2020 Eva Herrada for Adafruit Industries
 2  #
 3  # SPDX-License-Identifier: MIT
 4  
 5  import time
 6  import board
 7  import digitalio
 8  
 9  worm_ratio = 40/1
10  belt_ratio = 100/60
11  gear_ratio = worm_ratio * belt_ratio
12  
13  steps = 200 # Steps per revolution
14  microsteps = 64 # Microstepping resolution
15  total_steps = steps * microsteps # Total microsteps per revolution
16  
17  wait = 1/ ((gear_ratio * total_steps) / 86164.1)
18  
19  step = digitalio.DigitalInOut(board.D6)
20  direct = digitalio.DigitalInOut(board.D5)
21  
22  step.direction = digitalio.Direction.OUTPUT
23  direct.direction = digitalio.Direction.OUTPUT
24  
25  direct.value = True
26  
27  while True:
28      step.value = True
29      time.sleep(0.001)
30      step.value = False
31      time.sleep(wait - 0.001)