1#!/usr/bin/python
2# Author: Jon Trulson <jtrulson@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
25import pyupm_grovemd as upmGrovemd
26
27I2C_BUS = upmGrovemd.GROVEMD_I2C_BUS
28I2C_ADDR = upmGrovemd.GROVEMD_DEFAULT_I2C_ADDR
29
30# Instantiate an I2C Grove Motor Driver on I2C bus 0
31myMotorDriver = upmGrovemd.GroveMD(I2C_BUS, I2C_ADDR)
32
33# This example demonstrates using the GroveMD to drive a stepper motor
34
35# configure it, for this example, we'll assume 200 steps per rev
36myMotorDriver.configStepper(200)
37
38# set for half a rotation
39myMotorDriver.setStepperSteps(100)
40
41# let it go - clockwise rotation, 10 RPM speed
42myMotorDriver.enableStepper(upmGrovemd.GroveMD.STEP_DIR_CW, 10)
43
44time.sleep(3)
45
46# Now do it backwards...
47myMotorDriver.setStepperSteps(100)
48myMotorDriver.enableStepper(upmGrovemd.GroveMD.STEP_DIR_CCW, 10)
49
50# now disable
51myMotorDriver.disableStepper()
52
53