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 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 34# set direction to CW and set speed to 50% 35print "Spin M1 and M2 at half speed for 3 seconds" 36myMotorDriver.setMotorDirections(upmGrovemd.GroveMD.DIR_CW, upmGrovemd.GroveMD.DIR_CW) 37myMotorDriver.setMotorSpeeds(127, 127) 38 39time.sleep(3) 40# counter clockwise 41print "Reversing M1 and M2 for 3 seconds" 42myMotorDriver.setMotorDirections(upmGrovemd.GroveMD.DIR_CCW, 43upmGrovemd.GroveMD.DIR_CCW) 44time.sleep(3) 45 46print "Stopping motors" 47myMotorDriver.setMotorSpeeds(0, 0) 48