#!/usr/bin/env python # Author: Mihai Tudor Panu # 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. from __future__ import print_function import time, sys, signal, atexit from upm import pyupm_stepmotor as mylib def main(): # Instantiate a StepMotor object on pins 2 (dir) and 3 (step) stepper = mylib.StepMotor(2, 3) ## 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 def exitHandler(): print("Exiting") sys.exit(0) # Register exit handlers atexit.register(exitHandler) signal.signal(signal.SIGINT, SIGINTHandler) print("Rotating 1 revolution forward and back at 60 rpm.") stepper.setSpeed(60) stepper.stepForward(200) time.sleep(1) stepper.stepBackward(200) time.sleep(1) print("Rotating 1 revolution forward and back at 150 rpm.") stepper.setSpeed(150) stepper.stepForward(200) time.sleep(1) stepper.stepBackward(200) time.sleep(1) print("Rotating 1 revolution forward and back at 300 rpm.") stepper.setSpeed(300) stepper.stepForward(200) time.sleep(1) stepper.stepBackward(200) time.sleep(1) if __name__ == '__main__': main()