Step motors

Last changed: 2009/02/07 17:29 

 

This revision is from 2009/02/07 16:39. You can Restore it.

Alejo Duque

step motor meets the ArtBus

Using the ArtBus, a micro-controller designed at the Art Institute of Chicago (in development), for controlling a step motor. The project began during the FACE workshop, it will be hopefully used to control a video camera (or a microphone, or anything) remotely via an IRC (Internet Relay Chat) bot. (more soon) /ad

software

In this case we use python code to send the messages to the ArtBus but is possible to use puredata or any other software that can talk to the serial port. Robb coded an OSC interface that serves as a mediator to allow comminication via the OpenSoundControl protocol. The code will be added to this page as soon as is properly tested.

schematics

http://nujus.net/~locusonus/dropbox/alejo/esquema_stepper%231.png

uses

Here, a little video clip that shows the interaction flow from irc chat lines (!east or !west) to python commands sent via serial communication to the ArtBus (or arduino, or whatever microcontroller board)

http://www.archive.org/details/ircbot2webcam

code

The code below was tailored by favian voegeli with the help and comments of alejo duque (step motor patterns) based on code and ideas shared with robert drinkwater. It is a base example. The other half is the supybot configuration file that will allow the irc bot to send messages to the serial port.


#! /usr/bin/python

import serial #import serial library
import sys, time


# sequence of patterns, each for 4 pins
# (adapt to your needs)


#http://en.nanotec.com/steppermotor_animation.html
#patterns = ((1, 1, 0 , 0), (0, 0, 1 , 1), (1, 1, 0 , 0), (0, 0, 1, 1), (0, 0, 0, 0)) # 4 steps to the Left=West
patterns = ((0, 1, 0, 1), (0, 1, 1, 0), (0, 1, 0, 1), (1, 0, 0, 1), (0, 0, 0, 0)) # 4 steps to the Right=East

# !Zz; resets all to see that is there

#patterns = ((0, 0, 1 , 1), (1, 1, 0, 0), (0, 0, 1, 1), (1, 1, 0, 0)) # invertido
#patterns = ((0, 1, 1, 0), (1, 0, 0, 1), (0, 1, 1, 0), (1, 0, 0, 1)) # ok!
#patterns = ((1, 1, 0, 0), (1, 0, 0 , 0))
#patterns = ((1, 0, 0, 0), (1, 1, 0, 0), (0, 1, 0, 0), (0, 1, 1, 0), (0, 0, 1, 0), (0, 0, 1, 1), (0, 0, 0, 1), (1, 0, 0, 1))

# artbus command prefixes
command = ('j', 'k') # j = low(0), k = high (1)

# serial config
ser = serial.Serial() # instanciate serial class as ser
#ser.port = '/dev/ttyUSB0' #  connection device
ser.port = '/dev/cu.usbserial-FTPUZJAK' #  connection device
ser.baudrate = 115200 # sets the speed
ser.timeout = 0.1 # to not occupy the line forever

# open serial connection
try:
       ser.open() # opens serial port
except serial.SerialException, e:
       print e # prints an error if it doesn't work

# create artbus_commands...

for sequence in patterns: # iterate over `patterns`...


       for bit_number in range(len(sequence)): #...names pins and use each `tuple`
               bit = sequence[bit_number]
               cmnd = command[bit]
               artbus_command = '!S' + str(cmnd) + str(bit_number+1) + ';'
               # print and send artbus_command to serial connection
               print artbus_command
               ser.write(artbus_command) # !-bang J-analog board z-reset & semi-end_command
               # read & print response
               response = ser.readline() # reads the serial buffer
               print response
               # sleep a while
               time.sleep(0.5)
       print ""        # next sequence of patterns


# close serial connection
ser.close()



'''
For this script these is the command in the python console:
sh-3.2# python fabian2.py

--

will create an output like:

!Sk0;
!Sj1;
!Sj2;
!Sj3;

!Sj0;
!Sk1;
!Sj2;
!Sj3;

!Sj0;
!Sj1;
!Sk2;
!Sj3;

!Sj0;
!Sj1;
!Sj2;
!Sk3;

'''

HalfBrother the irc bot

we used supybot, a well known python bot, you need to install it and use this configuration filed tuned by favian.



###
# Determines the bot's default nick.
#
# Default value: supybot
###
supybot.nick: HalfBrother

###
# Determines what alternative nicks will be used if the primary nick
# (supybot.nick) isn't available. A %s in this nick is replaced by the
# value of supybot.nick when used. If no alternates are given, or if all
# are used, the supybot.nick will be perturbed appropriately until an
# unused nick is found.
#
# Default value: %s` %s_
###
supybot.nick.alternates: %s` %s_

###
# Determines the bot's ident string, if the server doesn't provide one
# by default.
#
# Default value: supybot
###
supybot.ident: supybot

###
# Determines the user the bot sends to the server. A standard user using
# the current version of the bot will be generated if this is left
# empty.
#
# Default value: 
###
supybot.user: 

###
# Determines what networks the bot will connect to.
#
# Default value:  
###
supybot.networks: freenode

###
# Determines what password will be used on goto10. Yes, we know that
# technically passwords are server-specific and not network-specific,
# but this is the best we can do right now.
#
# Default value: 
###
supybot.networks.freenode.password: 

###
# Determines what servers the bot will connect to for goto10. Each will
# be tried in order, wrapping back to the first when the cycle is
# completed.
#
# Default value: 
###
supybot.networks.freenode.servers: irc.freenode.org:6667

###
# Determines what channels the bot will join only on goto10.
#
# Default value:  
###
supybot.networks.freenode.channels: #altred
#supybot.networks.goto10.channels: #conspire

###
# Determines what key (if any) will be used to join the channel.
#
# Default value: 
###
supybot.networks.freenode.channels.key: 

###
# Determines whether the bot will attempt to connect with SSL sockets to
# goto10.
#
# Default value: False
###
supybot.networks.freenode.ssl: False

###
# Determines how timestamps printed for human reading should be
# formatted. Refer to the Python documentation for the time module to
# see valid formatting characters for time formats.
#
# Default value: %I:%M %p, %B %d, %Y
###
supybot.reply.format.time: %I:%M %p, %B %d, %Y

###
# Determines whether elapsed times will be given as "1 day, 2 hours, 3
# minutes, and 15 seconds" or as "1d 2h 3m 15s".
#
# Default value: False
###
supybot.reply.format.time.elapsed.short: False

###
# Determines the absolute maximum length of the bot's reply -- no reply
# will be passed through the bot with a length greater than this.
#
# Default value: 131072
###
supybot.reply.maximumLength: 131072

###
# Determines whether the bot will break up long messages into chunks and
# allow users to use the 'more' command to get the remaining chunks.
#
# Default value: True
###
supybot.reply.mores: True

###
# Determines what the maximum number of chunks (for use with the 'more'
# command) will be.
#
# Default value: 50
###
supybot.reply.mores.maximum: 50

###
# Determines how long individual chunks will be. If set to 0, uses our
# super-tweaked, get-the-most-out-of-an-individual-message default.
#
# Default value: 0
###
supybot.reply.mores.length: 0

###
# Determines how many mores will be sent instantly (i.e., without the
# use of the more command, immediately when they are formed). Defaults
# to 1, which means that a more command will be required for all but the
# first chunk.
#
# Default value: 1
###
supybot.reply.mores.instant: 1

###
# Determines whether the bot will send multi-message replies in a single
# message or in multiple messages. For safety purposes (so the bot is
# less likely to flood) it will normally send everything in a single
# message, using mores if necessary.
#
# Default value: True
###
supybot.reply.oneToOne: True

###
# Determines whether the bot will reply with an error message when it is
# addressed but not given a valid command. If this value is False, the
# bot will remain silent, as long as no other plugins override the
# normal behavior.
#
# Default value: True
###
supybot.reply.whenNotCommand: True

###
# Determines whether error messages that result from bugs in the bot
# will show a detailed error message (the uncaught exception) or a
# generic error message.
#
# Default value: False
###
supybot.reply.error.detailed: False

###
# Determines whether the bot will send error messages to users in
# private. You might want to do this in order to keep channel traffic to
# minimum. This can be used in combination with
# supybot.reply.error.withNotice.
#
# Default value: False
###
supybot.reply.error.inPrivate: False

###
# Determines whether the bot will send error messages to users via
# NOTICE instead of PRIVMSG. You might want to do this so users can
# ignore NOTICEs from the bot and not have to see error messages; or you
# might want to use it in combination with supybot.reply.errorInPrivate
# so private errors don't open a query window in most IRC clients.
#
# Default value: False
###
supybot.reply.error.withNotice: False

###
# Determines whether the bot will send an error message to users who
# attempt to call a command for which they do not have the necessary
# capability. You may wish to make this True if you don't want users to
# understand the underlying security system preventing them from running
# certain commands.
#
# Default value: False
###
supybot.reply.error.noCapability: False

###
# Determines whether the bot will reply privately when replying in a
# channel, rather than replying to the whole channel.
#
# Default value: False
###
supybot.reply.inPrivate: False

###
# Determines whether the bot will reply with a notice when replying in a
# channel, rather than replying with a privmsg as normal.
#
# Default value: False
###
supybot.reply.withNotice: False

###
# Determines whether the bot will reply with a notice when it is sending
# a private message, in order not to open a /query window in clients.
# This can be overridden by individual users via the user configuration
# variable reply.withNoticeWhenPrivate.
#
# Default value: False
###
supybot.reply.withNoticeWhenPrivate: False

###
# Determines whether the bot will always prefix the user's nick to its
# reply to that user's command.
#
# Default value: True
###
supybot.reply.withNickPrefix: True

###
# Determines whether the bot should attempt to reply to all messages
# even if they don't address it (either via its nick or a prefix
# character). If you set this to True, you almost certainly want to set
# supybot.reply.whenNotCommand to False.
#
# Default value: False
###
supybot.reply.whenNotAddressed: False

###
# Determines whether the bot will allow you to send channel-related
# commands outside of that channel. Sometimes people find it confusing
# if a channel-related command (like Filter.outfilter) changes the
# behavior of the channel but was sent outside the channel itself.
#
# Default value: False
###
supybot.reply.requireChannelCommandsToBeSentInChannel: False

###
# Supybot normally replies with the full help whenever a user misuses a
# command. If this value is set to True, the bot will only reply with
# the syntax of the command (the first line of the help) rather than the
# full help.
#
# Default value: False
###
supybot.reply.showSimpleSyntax: False

###
# Determines what prefix characters the bot will reply to. A prefix
# character is a single character that the bot will use to determine
# what messages are addressed to it; when there are no prefix characters
# set, it just uses its nick. Each character in this string is
# interpreted individually; you can have multiple prefix chars
# simultaneously, and if any one of them is used as a prefix the bot
# will assume it is being addressed.
#
# Default value: 
###
supybot.reply.whenAddressedBy.chars: !

###
# Determines what strings the bot will reply to when they are at the
# beginning of the message. Whereas prefix.chars can only be one
# character (although there can be many of them), this variable is a
# space-separated list of strings, so you can set something like '@@ ??'
# and the bot will reply when a message is prefixed by either @@ or ??.
#
# Default value:  
###
supybot.reply.whenAddressedBy.strings:  

###
# Determines whether the bot will reply when people address it by its
# nick, rather than with a prefix character.
#
# Default value: True
###
supybot.reply.whenAddressedBy.nick: True

###
# Determines whether the bot will reply when people address it by its
# nick at the end of the message, rather than at the beginning.
#
# Default value: False
###
supybot.reply.whenAddressedBy.nick.atEnd: False

###
# Determines what extra nicks the bot will always respond to when
# addressed by, even if its current nick is something else.
#
# Default value:  
###
supybot.reply.whenAddressedBy.nicks:  

###
# Determines whether the bot will unidentify someone when that person
# changes his or her nick. Setting this to True will cause the bot to
# track such changes. It defaults to False for a little greater
# security.
#
# Default value: False
###
supybot.followIdentificationThroughNickChanges: False

###
# Determines whether the bot will always join a channel when it's
# invited. If this value is False, the bot will only join a channel if
# the user inviting it has the 'admin' capability (or if it's explicitly
# told to join the channel using the Admin.join command)
#
# Default value: False
###
supybot.alwaysJoinOnInvite: False

###
# Determines what message the bot replies with when a command succeeded.
# If this configuration variable is empty, no success message will be
# sent.
###
supybot.replies.success: done.

###
# Determines what error message the bot gives when it wants to be
# ambiguous.
###
supybot.replies.error: An error has occurred and has been logged. Please\
                       contact this bot's administrator for more\
                       information.

###
# Determines what message the bot replies with when someone tries to use
# a command that requires being identified or having a password and
# neither credential is correct.
###
supybot.replies.incorrectAuthentication: Your hostmask doesn't match or your\
                                         password is wrong.

###
# Determines what error message the bot replies with when someone tries
# to accessing some information on a user the bot doesn't know about.
###
supybot.replies.noUser: I can't find %s in my user database. If you didn't\
                        give a user name, then I might not know what your\
                        user is, and you'll need to identify before this\
                        command might work.

###
# Determines what error message the bot replies with when someone tries
# to do something that requires them to be registered but they're not
# currently recognized.
###
supybot.replies.notRegistered: You must be registered to use this command.\
                               If you are already registered, you must\
                               either identify (using the identify command)\
                               or add a hostmask matching your current\
                               hostmask (using the "hostmask add" command).

###
# Determines what error message is given when the bot is telling someone
# they aren't cool enough to use the command they tried to use.
###
supybot.replies.noCapability: You don't have the %s capability. If you think\
                              that you should have this capability, be sure\
                              that you are identified before trying again.\
                              The 'whoami' command can tell you if you're\
                              identified.

###
# Determines what generic error message is given when the bot is telling
# someone that they aren't cool enough to use the command they tried to
# use, and the author of the code calling errorNoCapability didn't
# provide an explicit capability for whatever reason.
###
supybot.replies.genericNoCapability: You're missing some capability you\
                                     need. This could be because you\
                                     actually possess the anti-capability\
                                     for the capability that's required of\
                                     you, or because the channel provides\
                                     that anti-capability by default, or\
                                     because the global capabilities include\
                                     that anti-capability. Or, it could be\
                                     because the channel or\
                                     supybot.capabilities.default is set to\
                                     False, meaning that no commands are\
                                     allowed unless explicitly in your\
                                     capabilities. Either way, you can't do\
                                     what you want to do.

###
# Determines what error messages the bot sends to people who try to do
# things in a channel that really should be done in private.
###
supybot.replies.requiresPrivacy: That operation cannot be done in a channel.

###
# Determines what message the bot sends when it thinks you've
# encountered a bug that the developers don't know about.
###
supybot.replies.possibleBug: This may be a bug. If you think it is, please\
                             file a bug report at <http://sourceforge.net/tr\
                             acker/?func=add&group_id=58965&atid=489447>.

###
# A floating point number of seconds to throttle snarfed URLs, in order
# to prevent loops between two bots snarfing the same URLs and having
# the snarfed URL in the output of the snarf message.
#
# Default value: 10.0
###
supybot.snarfThrottle: 10.0

###
# Determines the number of seconds between running the upkeep function
# that flushes (commits) open databases, collects garbage, and records
# some useful statistics at the debugging level.
#
# Default value: 3600
###
supybot.upkeepInterval: 3600

###
# Determines whether the bot will periodically flush data and
# configuration files to disk. Generally, the only time you'll want to
# set this to False is when you want to modify those configuration files
# by hand and don't want the bot to flush its current version over your
# modifications. Do note that if you change this to False inside the
# bot, your changes won't be flushed. To make this change permanent, you
# must edit the registry yourself.
#
# Default value: True
###
supybot.flush: True

###
# Determines what characters are valid for quoting arguments to commands
# in order to prevent them from being tokenized.
#
# Default value: "
###
supybot.commands.quotes: "

###
# Determines whether the bot will allow nested commands, which rule. You
# definitely should keep this on.
#
# Default value: True
###
supybot.commands.nested: True

###
# Determines what the maximum number of nested commands will be; users
# will receive an error if they attempt commands more nested than this.
#
# Default value: 10
###
supybot.commands.nested.maximum: 10

###
# Supybot allows you to specify what brackets are used for your nested
# commands. Valid sets of brackets include [], <>, and {} (). [] has
# strong historical motivation, as well as being the brackets that don't
# require shift. <> or () might be slightly superior because they cannot
# occur in a nick. If this string is empty, nested commands will not be
# allowed in this channel.
#
# Default value: []
###
supybot.commands.nested.brackets: []

###
# Supybot allows nested commands. Enabling this option will allow nested
# commands with a syntax similar to UNIX pipes, for example: 'bot: foo |
# bar'.
#
# Default value: False
###
supybot.commands.nested.pipeSyntax: False

###
# Determines what commands have default plugins set, and which plugins
# are set to be the default for each of those commands.
###
supybot.commands.defaultPlugins.addcapability: Admin
supybot.commands.defaultPlugins.capabilities: User
supybot.commands.defaultPlugins.disable: Owner
supybot.commands.defaultPlugins.enable: Owner
supybot.commands.defaultPlugins.help: Misc
supybot.commands.defaultPlugins.ignore: Admin

###
# Determines what plugins automatically get precedence over all other
# plugins when selecting a default plugin for a command. By default,
# this includes the standard loaded plugins. You probably shouldn't
# change this if you don't know what you're doing; if you do know what
# you're doing, then also know that this set is case-sensitive.
#
# Default value: Plugin Admin Misc User Owner Config Channel
###
supybot.commands.defaultPlugins.importantPlugins: Plugin Admin Misc User Owner Config Channel
supybot.commands.defaultPlugins.list: Misc
supybot.commands.defaultPlugins.reload: Owner
supybot.commands.defaultPlugins.removecapability: Admin
supybot.commands.defaultPlugins.unignore: Admin

###
# Determines what commands are currently disabled. Such commands will
# not appear in command lists, etc. They will appear not even to exist.
#
# Default value:  
###
supybot.commands.disabled:  

###
# Determines whether the bot will defend itself against command-
# flooding.
#
# Default value: True
###
supybot.abuse.flood.command: True

###
# Determines how many commands users are allowed per minute. If a user
# sends more than this many commands in any 60 second period, he or she
# will be ignored for supybot.abuse.flood.command.punishment seconds.
#
# Default value: 12
###
supybot.abuse.flood.command.maximum: 12

###
# Determines how many seconds the bot will ignore users who flood it
# with commands.
#
# Default value: 300
###
supybot.abuse.flood.command.punishment: 300

###
# Determines whether the bot will defend itself against invalid command-
# flooding.
#
# Default value: True
###
supybot.abuse.flood.command.invalid: True

###
# Determines how many invalid commands users are allowed per minute. If
# a user sends more than this many invalid commands in any 60 second
# period, he or she will be ignored for
# supybot.abuse.flood.command.invalid.punishment seconds. Typically,
# this value is lower than supybot.abuse.flood.command.maximum, since
# it's far less likely (and far more annoying) for users to flood with
# invalid commands than for them to flood with valid commands.
#
# Default value: 5
###
supybot.abuse.flood.command.invalid.maximum: 5

###
# Determines how many seconds the bot will ignore users who flood it
# with invalid commands. Typically, this value is higher than
# supybot.abuse.flood.command.punishment, since it's far less likely
# (and far more annoying) for users to flood witih invalid commands than
# for them to flood with valid commands.
#
# Default value: 600
###
supybot.abuse.flood.command.invalid.punishment: 600

###
# Determines the default length of time a driver should block waiting
# for input.
#
# Default value: 1.0
###
supybot.drivers.poll: 1.0

###
# Determines what driver module the bot will use. Socket, a simple
# driver based on timeout sockets, is used by default because it's
# simple and stable. Twisted is very stable and simple, and if you've
# got Twisted installed, is probably your best bet. If this setting is
# left as default and Twisted-support is detected, the Twisted driver
# will be used in favor of the Socket driver.
#
# Default value: default
###
supybot.drivers.module: default

###
# Determines the maximum time the bot will wait before attempting to
# reconnect to an IRC server. The bot may, of course, reconnect earlier
# if possible.
#
# Default value: 300.0
###
supybot.drivers.maxReconnectWait: 300.0

###
# Determines what directory configuration data is put into.
#
# Default value: conf
###
supybot.directories.conf: /Users/ad/Desktop/pics_steppers/ircbot2cam_tm08/bots/stepperbot/conf

###
# Determines what directory data is put into.
#
# Default value: data
###
supybot.directories.data: /Users/ad/Desktop/pics_steppers/ircbot2cam_tm08/bots/stepperbot/data

###
# Determines what directory temporary files are put into.
#
# Default value: tmp
###
supybot.directories.data.tmp: /Users/ad/Desktop/pics_steppers/ircbot2cam_tm08/bots/stepperbot/data/tmp

###
# Determines what directory backup data is put into.
#
# Default value: backup
###
supybot.directories.backup: /Users/ad/Desktop/pics_steppers/ircbot2cam_tm08/bots/stepperbot/backup

###
# Determines what directories the bot will look for plugins in. Accepts
# a comma-separated list of strings. This means that to add another
# directory, you can nest the former value and add a new one. E.g. you
# can say: bot: 'config supybot.directories.plugins [config
# supybot.directories.plugins], newPluginDirectory'.
#
# Default value: /opt/local/lib/python2.4/site-packages/supybot/plugins
###
supybot.directories.plugins: /Users/ad/Desktop/pics_steppers/ircbot2cam_tm08/bots/stepperbot/plugins, /opt/local/lib/python2.4/site-packages/supybot/plugins

###
# Determines what directory the bot will store its logfiles in.
#
# Default value: logs
###
supybot.directories.log: /Users/ad/Desktop/pics_steppers/ircbot2cam_tm08/bots/logs

###
# Determines what plugins will be loaded.
#
# Default value:  
###
supybot.plugins: Admin StepperBot Misc User Owner Config Channel

###
# Determines whether this plugin is loaded by default.
###
supybot.plugins.Admin: True

###
# Determines whether this plugin is publicly visible.
#
# Default value: True
###
supybot.plugins.Admin.public: True

###
# Determines whether this plugin is loaded by default.
###
supybot.plugins.Channel: True

###
# Determines whether this plugin is publicly visible.
#
# Default value: True
###
supybot.plugins.Channel.public: True

###
# Determines whether the bot will always try to rejoin a channel
# whenever it's kicked from the channel.
#
# Default value: True
###
supybot.plugins.Channel.alwaysRejoin: True

###
# Determines what will be used as the default banmask style.
#
# Default value: host user
###
supybot.plugins.Channel.banmask: host user

###
# Determines whether this plugin is loaded by default.
###
supybot.plugins.Config: True

###
# Determines whether this plugin is publicly visible.
#
# Default value: True
###
supybot.plugins.Config.public: True

###
# Determines whether this plugin is loaded by default.
###
supybot.plugins.Misc: True

###
# Determines whether this plugin is publicly visible.
#
# Default value: True
###
supybot.plugins.Misc.public: True

###
# Determines whether the bot will list private plugins with the list
# command if given the --private switch. If this is disabled, non-owner
# users should be unable to see what private plugins are loaded.
#
# Default value: True
###
supybot.plugins.Misc.listPrivatePlugins: True

###
# Determines the format string for timestamps in the Misc.last command.
# Refer to the Python documentation for the time module to see what
# formats are accepted. If you set this variable to the empty string,
# the timestamp will not be shown.
#
# Default value: [%H:%M:%S]
###
supybot.plugins.Misc.timestampFormat: [%H:%M:%S]

###
# Determines whether or not the timestamp will be included in the output
# of last when it is part of a nested command
#
# Default value: False
###
supybot.plugins.Misc.last.nested.includeTimestamp: False

###
# Determines whether or not the nick will be included in the output of
# last when it is part of a nested command
#
# Default value: False
###
supybot.plugins.Misc.last.nested.includeNick: False

###
# Determines whether this plugin is loaded by default.
###
supybot.plugins.Owner: True

###
# Determines whether this plugin is publicly visible.
#
# Default value: True
###
supybot.plugins.Owner.public: True

###
# Determines what quit message will be used by default. If the quit
# command is called without a quit message, this will be used. If this
# value is empty, the nick of the person giving the quit command will be
# used.
#
# Default value: 
###
supybot.plugins.Owner.quitMsg: 

###
# Determines whether this plugin is loaded by default.
###
supybot.plugins.StepperBot: True

###
# Determines whether this plugin is publicly visible.
#
# Default value: True
###
supybot.plugins.StepperBot.public: True

###
# Determines whether this plugin is loaded by default.
###
supybot.plugins.User: True

###
# Determines whether this plugin is publicly visible.
#
# Default value: True
###
supybot.plugins.User.public: True

###
# Determines whether the bot will always load important plugins (Admin,
# Channel, Config, Misc, Owner, and User) regardless of what their
# configured state is. Generally, if these plugins are configured not to
# load, you didn't do it on purpose, and you still want them to load.
# Users who don't want to load these plugins are smart enough to change
# the value of this variable appropriately :)
#
# Default value: True
###
supybot.plugins.alwaysLoadImportant: True

###
# Determines what databases are available for use. If this value is not
# configured (that is, if its value is empty) then sane defaults will be
# provided.
#
# Default value: anydbm cdb flat pickle
###
supybot.databases: 

###
# Determines what filename will be used for the users database. This
# file will go into the directory specified by the
# supybot.directories.conf variable.
#
# Default value: users.conf
###
supybot.databases.users.filename: users.conf

###
# Determines how long it takes identification to time out. If the value
# is less than or equal to zero, identification never times out.
#
# Default value: 0
###
supybot.databases.users.timeoutIdentification: 0

###
# Determines whether the bot will allow users to unregister their users.
# This can wreak havoc with already-existing databases, so by default we
# don't allow it. Enable this at your own risk. (Do also note that this
# does not prevent the owner of the bot from using the unregister
# command.)
#
# Default value: False
###
supybot.databases.users.allowUnregistration: False

###
# Determines what filename will be used for the ignores database. This
# file will go into the directory specified by the
# supybot.directories.conf variable.
#
# Default value: ignores.conf
###
supybot.databases.ignores.filename: ignores.conf

###
# Determines what filename will be used for the channels database. This
# file will go into the directory specified by the
# supybot.directories.conf variable.
#
# Default value: channels.conf
###
supybot.databases.channels.filename: channels.conf

###
# Determines whether database-based plugins that can be channel-specific
# will be so. This can be overridden by individual channels. Do note
# that the bot needs to be restarted immediately after changing this
# variable or your db plugins may not work for your channel; also note
# that you may wish to set
# supybot.databases.plugins.channelSpecific.link appropriately if you
# wish to share a certain channel's databases globally.
#
# Default value: True
###
supybot.databases.plugins.channelSpecific: True

###
# Determines what channel global (non-channel-specific) databases will
# be considered a part of. This is helpful if you've been running
# channel-specific for awhile and want to turn the databases for your
# primary channel into global databases. If
# supybot.databases.plugins.channelSpecific.link.allow prevents linking,
# the current channel will be used. Do note that the bot needs to be
# restarted immediately after changing this variable or your db plugins
# may not work for your channel.
#
# Default value: #
###
supybot.databases.plugins.channelSpecific.link: #

###
# Determines whether another channel's global (non-channel-specific)
# databases will be allowed to link to this channel's databases. Do note
# that the bot needs to be restarted immediately after changing this
# variable or your db plugins may not work for your channel.
#
# Default value: True
###
supybot.databases.plugins.channelSpecific.link.allow: True

###
# Determines whether CDB databases will be allowed as a database
# implementation.
#
# Default value: True
###
supybot.databases.types.cdb: True

###
# Determines how often CDB databases will have their modifications
# flushed to disk. When the number of modified records is greater than
# this part of the number of unmodified records, the database will be
# entirely flushed to disk.
#
# Default value: 0.5
###
supybot.databases.types.cdb.maximumModifications: 0.5

###
# Determines whether the bot will strictly follow the RFC; currently
# this only affects what strings are considered to be nicks. If you're
# using a server or a network that requires you to message a nick such
# as services@this.network.server then you you should set this to False.
#
# Default value: False
###
supybot.protocols.irc.strictRfc: False

###
# Determines what user modes the bot will request from the server when
# it first connects. Many people might choose +i; some networks allow
# +x, which indicates to the auth services on those networks that you
# should be given a fake host.
#
# Default value: 
###
supybot.protocols.irc.umodes: 

###
# Determines what vhost the bot will bind to before connecting to the
# IRC server.
#
# Default value: 
###
supybot.protocols.irc.vhost: 

###
# Determines how many old messages the bot will keep around in its
# history. Changing this variable will not take effect until the bot is
# restarted.
#
# Default value: 1000
###
supybot.protocols.irc.maxHistoryLength: 1000

###
# A floating point number of seconds to throttle queued messages -- that
# is, messages will not be sent faster than once per throttleTime
# seconds.
#
# Default value: 1.0
###
supybot.protocols.irc.throttleTime: 1.0

###
# Determines whether the bot will send PINGs to the server it's
# connected to in order to keep the connection alive and discover
# earlier when it breaks. Really, this option only exists for debugging
# purposes: you always should make it True unless you're testing some
# strange server issues.
#
# Default value: True
###
supybot.protocols.irc.ping: True

###
# Determines the number of seconds between sending pings to the server,
# if pings are being sent to the server.
#
# Default value: 120
###
supybot.protocols.irc.ping.interval: 120

###
# Determines whether the bot will refuse duplicate messages to be queued
# for delivery to the server. This is a safety mechanism put in place to
# prevent plugins from sending the same message multiple times; most of
# the time it doesn't matter, unless you're doing certain kinds of
# plugin hacking.
#
# Default value: False
###
supybot.protocols.irc.queuing.duplicates: False

###
# Determines how many seconds must elapse between JOINs sent to the
# server.
#
# Default value: 0.0
###
supybot.protocols.irc.queuing.rateLimit.join: 0.0

###
# Determines how many bytes the bot will 'peek' at when looking through
# a URL for a doctype or title or something similar. It'll give up after
# it reads this many bytes, even if it hasn't found what it was looking
# for.
#
# Default value: 4096
###
supybot.protocols.http.peekSize: 4096

###
# Determines what proxy all HTTP requests should go through. The value
# should be of the form 'host:port'.
#
# Default value: 
###
supybot.protocols.http.proxy: 

###
# Determines whether the bot will ignore unregistered users by default.
# Of course, that'll make it particularly hard for those users to
# register or identify with the bot, but that's your problem to solve.
#
# Default value: False
###
supybot.defaultIgnore: False

###
# A string that is the external IP of the bot. If this is the empty
# string, the bot will attempt to find out its IP dynamically (though
# sometimes that doesn't work, hence this variable).
#
# Default value: 
###
supybot.externalIP: 

###
# Determines what the default timeout for socket objects will be. This
# means that *all* sockets will timeout when this many seconds has gone
# by (unless otherwise modified by the author of the code that uses the
# sockets).
#
# Default value: 10
###
supybot.defaultSocketTimeout: 10

###
# Determines what file the bot should write its PID (Process ID) to, so
# you can kill it more easily. If it's left unset (as is the default)
# then no PID file will be written. A restart is required for changes to
# this variable to take effect.
#
# Default value: 
###
supybot.pidFile: 

###
# Determines whether the bot will automatically thread all commands.
#
# Default value: False
###
supybot.debug.threadAllCommands: False

###
# Determines whether the bot will automatically flush all flushers
# *very* often. Useful for debugging when you don't know what's breaking
# or when, but think that it might be logged.
#
# Default value: False
###
supybot.debug.flushVeryOften: False

###
# Determines what the bot's logging format will be. The relevant
# documentation on the available formattings is Python's documentation
# on its logging module.
#
# Default value: %(levelname)s %(asctime)s %(name)s %(message)s
###
supybot.log.format: %(levelname)s %(asctime)s %(name)s %(message)s

###
# Determines what the minimum priority level logged will be. Valid
# values are DEBUG, INFO, WARNING, ERROR, and CRITICAL, in order of
# increasing priority.
#
# Default value: INFO
###
supybot.log.level: INFO

###
# Determines the format string for timestamps in logfiles. Refer to the
# Python documentation for the time module to see what formats are
# accepted. If you set this variable to the empty string, times will be
# logged in a simple seconds-since-epoch format.
#
# Default value: %Y-%m-%dT%H:%M:%S
###
supybot.log.timestampFormat: %Y-%m-%dT%H:%M:%S

###
# Determines whether the bot will log to stdout.
#
# Default value: True
###
supybot.log.stdout: True

###
# Determines whether the bot's logs to stdout (if enabled) will be
# colorized with ANSI color.
#
# Default value: False
###
supybot.log.stdout.colorized: False

###
# Determines whether the bot will wrap its logs when they're output to
# stdout.
#
# Default value: True
###
supybot.log.stdout.wrap: True

###
# Determines what the bot's logging format will be. The relevant
# documentation on the available formattings is Python's documentation
# on its logging module.
#
# Default value: %(levelname)s %(asctime)s %(message)s
###
supybot.log.stdout.format: %(levelname)s %(asctime)s %(message)s

###
# Determines whether the bot will separate plugin logs into their own
# individual logfiles.
#
# Default value: False
###
supybot.log.plugins.individualLogfiles: False

###
# Determines what the bot's logging format will be. The relevant
# documentation on the available formattings is Python's documentation
# on its logging module.
#
# Default value: %(levelname)s %(asctime)s %(message)s
###
supybot.log.plugins.format: %(levelname)s %(asctime)s %(message)s

###
# These are the capabilities that are given to everyone by default. If
# they are normal capabilities, then the user will have to have the
# appropriate anti-capability if you want to override these
# capabilities; if they are anti-capabilities, then the user will have
# to have the actual capability to override these capabilities. See
# docs/CAPABILITIES if you don't understand why these default to what
# they do.
#
# Default value: -owner -admin -trusted
###
supybot.capabilities: -owner -admin -trusted

###
# Determines whether the bot by default will allow users to have a
# capability. If this is disabled, a user must explicitly have the
# capability for whatever command he wishes to run.
#
# Default value: True
###
supybot.capabilities.default: True


references:

http://en.nanotec.com/steppermotor_animation.html

http://www.x-robotics.com/motorizacion.htm

http://flickr.com/photos/pcomp/104968959/in/set-72057594070996918/

http://www.tigoe.net/pcomp/code/category/code/arduinowiring/51

http://www.instructables.com/id/S8UNBAPF3L1GTGI/

gracias:

Robb Drinkwater, Ed Bennett, Locus Sonus, Scott Fitzgerald, Fabian Voegeli, Alejandra Elpueblodechina Perez.

http://sprocket.telab.artic.edu/Artbus/front/AB_analog.jpg