1#!/usr/bin/python 2# Author: Zion Orent <zorent@ics.com> 3# Copyright (c) 2015 Intel Corporation. 4# 5# Permission is hereby granted, free of charge, to any person obtaining 6# a copy of this software and associated documentation files (the 7# "Software"), to deal in the Software without restriction, including 8# without limitation the rights to use, copy, modify, merge, publish, 9# distribute, sublicense, and/or sell copies of the Software, and to 10# permit persons to whom the Software is furnished to do so, subject to 11# the following conditions: 12# 13# The above copyright notice and this permission notice shall be 14# included in all copies or substantial portions of the Software. 15# 16# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 17# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 18# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 19# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE 20# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 21# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 22# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 23 24import time, sys, signal, atexit 25import pyupm_adafruitms1438 as upmAdafruitms1438 26 27 28# Import header values 29I2CBus = upmAdafruitms1438.ADAFRUITMS1438_I2C_BUS 30I2CAddr = upmAdafruitms1438.ADAFRUITMS1438_DEFAULT_I2C_ADDR 31 32M12Motor = upmAdafruitms1438.AdafruitMS1438.STEPMOTOR_M12 33MotorDirCW = upmAdafruitms1438.AdafruitMS1438.DIR_CW 34MotorDirCCW = upmAdafruitms1438.AdafruitMS1438.DIR_CCW 35 36 37# Instantiate an Adafruit MS 1438 on I2C bus 0 38myMotorShield = upmAdafruitms1438.AdafruitMS1438(I2CBus, I2CAddr) 39 40 41## Exit handlers ## 42# This stops python from printing a stacktrace when you hit control-C 43def SIGINTHandler(signum, frame): 44 raise SystemExit 45 46# This function lets you run code on exit, 47# including functions from myMotorShield 48def exitHandler(): 49 myMotorShield.disableStepper(M12Motor) 50 print "Exiting" 51 sys.exit(0) 52 53# Register exit handlers 54atexit.register(exitHandler) 55signal.signal(signal.SIGINT, SIGINTHandler) 56 57 58# Setup for use with a stepper motor connected to the M1 & M2 ports 59 60# set a PWM period of 50Hz 61 62# disable first, to be safe 63myMotorShield.disableStepper(M12Motor) 64 65# configure for a NEMA-17, 200 steps per revolution 66myMotorShield.stepConfig(M12Motor, 200) 67 68# set speed at 10 RPM's 69myMotorShield.setStepperSpeed(M12Motor, 10); 70myMotorShield.setStepperDirection(M12Motor, MotorDirCW) 71 72# enable 73print "Enabling..." 74myMotorShield.enableStepper(M12Motor) 75 76print "Rotating 1 full revolution at 10 RPM speed." 77myMotorShield.stepperSteps(M12Motor, 200) 78 79print "Sleeping for 2 seconds..." 80time.sleep(2) 81print "Rotating 1/2 revolution in opposite direction at 10 RPM speed." 82 83myMotorShield.setStepperDirection(M12Motor, MotorDirCCW) 84myMotorShield.stepperSteps(M12Motor, 100) 85 86print "Disabling..." 87 88# exitHandler runs automatically 89