diff --git a/examples/python/l298-stepper.py b/examples/python/l298-stepper.py new file mode 100644 index 00000000..cfac86f9 --- /dev/null +++ b/examples/python/l298-stepper.py @@ -0,0 +1,67 @@ +#!/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_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 diff --git a/examples/python/l298.py b/examples/python/l298.py new file mode 100644 index 00000000..f0b507c3 --- /dev/null +++ b/examples/python/l298.py @@ -0,0 +1,65 @@ +#!/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_l298 as upmL298 + +# Instantiate one of the 2 possible DC motors on a L298 Dual +# H-Bridge. For controlling a stepper motor, see the l298-stepper +# example. +myHBridge = upmL298.L298(3, 4, 7) + + +## 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) + + +print "Starting motor at 50% for 3 seconds..." +myHBridge.setSpeed(50) +myHBridge.setDirection(upmL298.L298.DIR_CW) +myHBridge.enable(True) + +time.sleep(3) + +print "Reversing direction..." +myHBridge.setDirection(upmL298.L298.DIR_NONE) # fast stop +myHBridge.setDirection(upmL298.L298.DIR_CCW) +time.sleep(3); + +myHBridge.setSpeed(0) +myHBridge.enable(False) + +# exitHandler is called automatically