upm/examples/python/md-stepper.py

#!/usr/bin/python
# Author: Jon Trulson <jtrulson@ics.com>
# Copyright (c) 2015 Intel Corporation.
#
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# permit persons to whom the Software is furnished to do so, subject to
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# The above copyright notice and this permission notice shall be
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import time
from upm import pyupm_md as upmmd

def main():
    I2C_BUS = upmmd.MD_I2C_BUS
    I2C_ADDR = upmmd.MD_DEFAULT_I2C_ADDR

    # Instantiate an I2C Motor Driver on I2C bus 0
    myMotorDriver = upmmd.MD(I2C_BUS, I2C_ADDR)

    # This example demonstrates using the MD to drive a stepper motor

    # configure it, for this example, we'll assume 200 steps per rev
    myMotorDriver.configStepper(200)

    # set for half a rotation
    myMotorDriver.setStepperSteps(100)

    # let it go - clockwise rotation, 10 RPM speed
    myMotorDriver.enableStepper(upmmd.MD_STEP_DIR_CW, 10)

    time.sleep(3)

    # Now do it backwards...
    myMotorDriver.setStepperSteps(100)
    myMotorDriver.enableStepper(upmmd.MD_STEP_DIR_CCW, 10)

    # now disable
    myMotorDriver.disableStepper()

if __name__ == '__main__':
    main()