From 4f53c9c43ac17ce506d69f68179c36a0ffad369d Mon Sep 17 00:00:00 2001 From: Zion Orent Date: Thu, 26 Mar 2015 17:57:50 -0400 Subject: [PATCH] adafruitms1438: python examples for adafruitms1438 motor shield Signed-off-by: Zion Orent Signed-off-by: Mihai Tudor Panu --- examples/python/adafruitms1438-stepper.py | 88 +++++++++++++++++++++++ examples/python/adafruitms1438.py | 83 +++++++++++++++++++++ 2 files changed, 171 insertions(+) create mode 100644 examples/python/adafruitms1438-stepper.py create mode 100644 examples/python/adafruitms1438.py diff --git a/examples/python/adafruitms1438-stepper.py b/examples/python/adafruitms1438-stepper.py new file mode 100644 index 00000000..5385951a --- /dev/null +++ b/examples/python/adafruitms1438-stepper.py @@ -0,0 +1,88 @@ +#!/usr/bin/python +# Author: Zion Orent +# 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_adafruitms1438 as upmAdafruitms1438 + + +# Import header values +I2CBus = upmAdafruitms1438.ADAFRUITMS1438_I2C_BUS +I2CAddr = upmAdafruitms1438.ADAFRUITMS1438_DEFAULT_I2C_ADDR + +M12Motor = upmAdafruitms1438.AdafruitMS1438.STEPMOTOR_M12 +MotorDirCW = upmAdafruitms1438.AdafruitMS1438.DIR_CW +MotorDirCCW = upmAdafruitms1438.AdafruitMS1438.DIR_CCW + + +# Instantiate an Adafruit MS 1438 on I2C bus 0 +myMotorShield = upmAdafruitms1438.AdafruitMS1438(I2CBus, I2CAddr) + + +## Exit handlers ## +# This stops python from printing a stacktrace when you hit control-C +def SIGINTHandler(signum, frame): + raise SystemExit + +# This function lets you run code on exit, +# including functions from myMotorShield +def exitHandler(): + myMotorShield.disableStepper(M12Motor) + print "Exiting" + sys.exit(0) + +# Register exit handlers +atexit.register(exitHandler) +signal.signal(signal.SIGINT, SIGINTHandler) + + +# Setup for use with a stepper motor connected to the M1 & M2 ports + +# set a PWM period of 50Hz + +# disable first, to be safe +myMotorShield.disableStepper(M12Motor) + +# configure for a NEMA-17, 200 steps per revolution +myMotorShield.stepConfig(M12Motor, 200) + +# set speed at 10 RPM's +myMotorShield.setStepperSpeed(M12Motor, 10); +myMotorShield.setStepperDirection(M12Motor, MotorDirCW) + +# enable +print "Enabling..." +myMotorShield.enableStepper(M12Motor) + +print "Rotating 1 full revolution at 10 RPM speed." +myMotorShield.stepperSteps(M12Motor, 200) + +print "Sleeping for 2 seconds..." +time.sleep(2) +print "Rotating 1/2 revolution in opposite direction at 10 RPM speed." + +myMotorShield.setStepperDirection(M12Motor, MotorDirCCW) +myMotorShield.stepperSteps(M12Motor, 100) + +print "Disabling..." + +# exitHandler runs automatically diff --git a/examples/python/adafruitms1438.py b/examples/python/adafruitms1438.py new file mode 100644 index 00000000..816bbe5d --- /dev/null +++ b/examples/python/adafruitms1438.py @@ -0,0 +1,83 @@ +#!/usr/bin/python +# Author: Zion Orent +# 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_adafruitms1438 as upmAdafruitms1438 + + +# Import header values +I2CBus = upmAdafruitms1438.ADAFRUITMS1438_I2C_BUS +I2CAddr = upmAdafruitms1438.ADAFRUITMS1438_DEFAULT_I2C_ADDR + +M3Motor = upmAdafruitms1438.AdafruitMS1438.MOTOR_M3 +MotorDirCW = upmAdafruitms1438.AdafruitMS1438.DIR_CW +MotorDirCCW = upmAdafruitms1438.AdafruitMS1438.DIR_CCW + + +# Instantiate an Adafruit MS 1438 on I2C bus 0 +myMotorShield = upmAdafruitms1438.AdafruitMS1438(I2CBus, I2CAddr) + + +## Exit handlers ## +# This stops python from printing a stacktrace when you hit control-C +def SIGINTHandler(signum, frame): + raise SystemExit + +# This function lets you run code on exit, +# including functions from myMotorShield +def exitHandler(): + myMotorShield.disableMotor(M3Motor) + print "Exiting" + sys.exit(0) + +# Register exit handlers +atexit.register(exitHandler) +signal.signal(signal.SIGINT, SIGINTHandler) + + +# Setup for use with a DC motor connected to the M3 port + +# set a PWM period of 50Hz +myMotorShield.setPWMPeriod(50) + +# disable first, to be safe +myMotorShield.disableMotor(M3Motor) + +# set speed at 50% +myMotorShield.setMotorSpeed(M3Motor, 50) +myMotorShield.setMotorDirection(M3Motor, MotorDirCW) + +print ("Spin M3 at half speed for 3 seconds, " +"then reverse for 3 seconds.") +myMotorShield.enableMotor(M3Motor) + +time.sleep(3) + +print "Reversing M3" +myMotorShield.setMotorDirection(M3Motor, MotorDirCCW) + +time.sleep(3) + +print "Stopping M3" + +# exitHandler runs automatically