feat: method is_target_reached() implemented. It checks if the motor has reached the target position

dsap · dsap · commit ab2c59e33802 · 2025-04-18T02:56:41.000+03:00
diff --git a/src/stepper/__init__.py b/src/stepper/__init__.py
@@ -25,6 +25,7 @@ def __init__(self, step_pin, dir_pin, en_pin=None, steps_per_rev=200, speed_sps=
         
         self.target_pos = 0
         self.pos = 0
+        self.target_reached = True  # flag used for movement indication
         self.steps_per_sec = speed_sps
         self.steps_per_rev = steps_per_rev
         
@@ -39,6 +40,7 @@ def speed_rps(self,rps):
         self.speed(rps*self.steps_per_rev)
 
     def target(self,t):
+        self.target_reached = False
         self.target_pos = t
 
     def target_deg(self,deg):
@@ -88,6 +90,8 @@ def _timer_callback(self,t):
             self.step(1)
         elif self.target_pos<self.pos:
             self.step(-1)
+        else:
+            self.target_reached = True
     
     def free_run(self,d):
         self.free_run_mode=d
@@ -123,3 +127,6 @@ def enable(self,e):
     
     def is_enabled(self):
         return self.enabled
+    
+    def is_target_reached(self):
+        return self.target_reached
