mirror of
https://github.com/eclipse/upm.git
synced 2025-03-15 04:57:30 +03:00
68 lines
2.2 KiB
Python
68 lines
2.2 KiB
Python
![]() |
#!/usr/bin/python
|
||
|
# Author: Zion Orent <zorent@ics.com>
|
||
|
# Copyright (c) 2015 Intel Corporation.
|
||
|
#
|
||
|
# Permission is hereby granted, free of charge, to any person obtaining
|
||
|
# a copy of this software and associated documentation files (the
|
||
|
# "Software"), to deal in the Software without restriction, including
|
||
|
# without limitation the rights to use, copy, modify, merge, publish,
|
||
|
# distribute, sublicense, and/or sell copies of the Software, and to
|
||
|
# permit persons to whom the Software is furnished to do so, subject to
|
||
|
# the following conditions:
|
||
|
#
|
||
|
# The above copyright notice and this permission notice shall be
|
||
|
# included in all copies or substantial portions of the Software.
|
||
|
#
|
||
|
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||
|
# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
||
|
# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||
|
# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
|
||
|
# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
||
|
# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
|
||
|
# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||
|
|
||
|
|
||
|
import time, sys, signal, atexit
|
||
|
import pyupm_l298 as upmL298
|
||
|
|
||
|
# Instantiate a Stepper motor on a L298 Dual H-Bridge.
|
||
|
# This was tested with the NEMA-17 12V, 350mA, with 200 steps per rev.
|
||
|
myHBridge = upmL298.L298(200, 3, 4, 7, 8, 9)
|
||
|
|
||
|
|
||
|
## Exit handlers ##
|
||
|
# This stops python from printing a stacktrace when you hit control-C
|
||
|
def SIGINTHandler(signum, frame):
|
||
|
raise SystemExit
|
||
|
|
||
|
# This lets you run code on exit,
|
||
|
# including functions from myHBridge
|
||
|
def exitHandler():
|
||
|
print "Exiting"
|
||
|
sys.exit(0)
|
||
|
|
||
|
# Register exit handlers
|
||
|
atexit.register(exitHandler)
|
||
|
signal.signal(signal.SIGINT, SIGINTHandler)
|
||
|
|
||
|
|
||
|
myHBridge.setSpeed(10) # 10 RPMs
|
||
|
myHBridge.setDirection(upmL298.L298.DIR_CW)
|
||
|
myHBridge.enable(True)
|
||
|
|
||
|
print "Rotating 1 full revolution at 10 RPM speed."
|
||
|
# move 200 steps, a full rev
|
||
|
myHBridge.stepperSteps(200)
|
||
|
|
||
|
print "Sleeping for 2 seconds..."
|
||
|
time.sleep(2)
|
||
|
|
||
|
print "Rotating 1/2 revolution in opposite direction at 10 RPM speed."
|
||
|
myHBridge.setDirection(upmL298.L298.DIR_CCW)
|
||
|
myHBridge.stepperSteps(100)
|
||
|
|
||
|
# release
|
||
|
myHBridge.enable(False)
|
||
|
|
||
|
# exitHandler is called automatically
|