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