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