mirror of
https://github.com/eclipse/upm.git
synced 2025-03-15 04:57:30 +03:00
bf425014ab
* Grouped UPM python modules into upm directory, for example:
/usr/local/lib/python2.7/dist-packages/upm
* Updated UPM example import statements
* Removed unused RPATH statements from UPM src CMakeLists.txt,
currently build collateral contains an explicit RPATH which
is stripped from the install collateral.
* Converted python examples to work on both python2 AND python3
* Added ctest for loading examples w/python3
* Removed returns from swig macros
* UPM python module use will change...
Before:
import pyupm_dfrph
After:
from upm import pyupm_dfrph
or
import upm.pyupm_dfrph
etc...
* This commit fixes #468
Signed-off-by: Noel Eck <noel.eck@intel.com>
85 lines
2.8 KiB
Python
Executable File
85 lines
2.8 KiB
Python
Executable File
#!/usr/bin/python
|
|
# Author: Zion Orent <zorent@ics.com>
|
|
# 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_adafruitms1438 as upmAdafruitms1438
|
|
|
|
def main():
|
|
# 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
|
|
|
|
if __name__ == '__main__':
|
|
main()
|