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4f53c9c43a
Signed-off-by: Zion Orent <zorent@ics.com> Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
89 lines
2.8 KiB
Python
89 lines
2.8 KiB
Python
#!/usr/bin/python
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# Author: Zion Orent <zorent@ics.com>
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# Copyright (c) 2015 Intel Corporation.
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#
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# Permission is hereby granted, free of charge, to any person obtaining
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# a copy of this software and associated documentation files (the
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# "Software"), to deal in the Software without restriction, including
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# without limitation the rights to use, copy, modify, merge, publish,
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# distribute, sublicense, and/or sell copies of the Software, and to
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# permit persons to whom the Software is furnished to do so, subject to
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# the following conditions:
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#
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# The above copyright notice and this permission notice shall be
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# included in all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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import time, sys, signal, atexit
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import pyupm_adafruitms1438 as upmAdafruitms1438
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# Import header values
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I2CBus = upmAdafruitms1438.ADAFRUITMS1438_I2C_BUS
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I2CAddr = upmAdafruitms1438.ADAFRUITMS1438_DEFAULT_I2C_ADDR
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M12Motor = upmAdafruitms1438.AdafruitMS1438.STEPMOTOR_M12
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MotorDirCW = upmAdafruitms1438.AdafruitMS1438.DIR_CW
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MotorDirCCW = upmAdafruitms1438.AdafruitMS1438.DIR_CCW
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# Instantiate an Adafruit MS 1438 on I2C bus 0
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myMotorShield = upmAdafruitms1438.AdafruitMS1438(I2CBus, I2CAddr)
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## Exit handlers ##
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# This stops python from printing a stacktrace when you hit control-C
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def SIGINTHandler(signum, frame):
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raise SystemExit
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# This function lets you run code on exit,
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# including functions from myMotorShield
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def exitHandler():
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myMotorShield.disableStepper(M12Motor)
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print "Exiting"
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sys.exit(0)
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# Register exit handlers
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atexit.register(exitHandler)
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signal.signal(signal.SIGINT, SIGINTHandler)
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# Setup for use with a stepper motor connected to the M1 & M2 ports
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# set a PWM period of 50Hz
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# disable first, to be safe
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myMotorShield.disableStepper(M12Motor)
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# configure for a NEMA-17, 200 steps per revolution
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myMotorShield.stepConfig(M12Motor, 200)
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# set speed at 10 RPM's
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myMotorShield.setStepperSpeed(M12Motor, 10);
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myMotorShield.setStepperDirection(M12Motor, MotorDirCW)
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# enable
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print "Enabling..."
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myMotorShield.enableStepper(M12Motor)
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print "Rotating 1 full revolution at 10 RPM speed."
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myMotorShield.stepperSteps(M12Motor, 200)
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print "Sleeping for 2 seconds..."
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time.sleep(2)
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print "Rotating 1/2 revolution in opposite direction at 10 RPM speed."
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myMotorShield.setStepperDirection(M12Motor, MotorDirCCW)
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myMotorShield.stepperSteps(M12Motor, 100)
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print "Disabling..."
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# exitHandler runs automatically
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