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68 lines
2.2 KiB
Python
68 lines
2.2 KiB
Python
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#!/usr/bin/python
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# Author: Zion Orent <zorent@ics.com>
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# Copyright (c) 2015 Intel Corporation.
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#
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# Permission is hereby granted, free of charge, to any person obtaining
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# a copy of this software and associated documentation files (the
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# "Software"), to deal in the Software without restriction, including
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# without limitation the rights to use, copy, modify, merge, publish,
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# distribute, sublicense, and/or sell copies of the Software, and to
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# permit persons to whom the Software is furnished to do so, subject to
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# the following conditions:
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#
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# The above copyright notice and this permission notice shall be
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# included in all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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import time, sys, signal, atexit
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import pyupm_l298 as upmL298
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# Instantiate a Stepper motor on a L298 Dual H-Bridge.
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# This was tested with the NEMA-17 12V, 350mA, with 200 steps per rev.
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myHBridge = upmL298.L298(200, 3, 4, 7, 8, 9)
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## Exit handlers ##
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# This stops python from printing a stacktrace when you hit control-C
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def SIGINTHandler(signum, frame):
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raise SystemExit
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# This lets you run code on exit,
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# including functions from myHBridge
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def exitHandler():
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print "Exiting"
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sys.exit(0)
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# Register exit handlers
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atexit.register(exitHandler)
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signal.signal(signal.SIGINT, SIGINTHandler)
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myHBridge.setSpeed(10) # 10 RPMs
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myHBridge.setDirection(upmL298.L298.DIR_CW)
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myHBridge.enable(True)
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print "Rotating 1 full revolution at 10 RPM speed."
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# move 200 steps, a full rev
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myHBridge.stepperSteps(200)
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print "Sleeping for 2 seconds..."
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time.sleep(2)
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print "Rotating 1/2 revolution in opposite direction at 10 RPM speed."
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myHBridge.setDirection(upmL298.L298.DIR_CCW)
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myHBridge.stepperSteps(100)
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# release
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myHBridge.enable(False)
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# exitHandler is called automatically
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