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
24
25import time, sys, signal, atexit
26import pyupm_l298 as upmL298
27
28# Instantiate one of the 2 possible DC motors on a L298 Dual
29# H-Bridge.  For controlling a stepper motor, see the l298-stepper
30# example.
31myHBridge = upmL298.L298(3, 4, 7)
32
33
34## Exit handlers ##
35# This stops python from printing a stacktrace when you hit control-C
36def SIGINTHandler(signum, frame):
37	raise SystemExit
38
39# This lets you run code on exit,
40# including functions from myHBridge
41def exitHandler():
42	print "Exiting"
43	sys.exit(0)
44
45# Register exit handlers
46atexit.register(exitHandler)
47signal.signal(signal.SIGINT, SIGINTHandler)
48
49
50print "Starting motor at 50% for 3 seconds..."
51myHBridge.setSpeed(50)
52myHBridge.setDirection(upmL298.L298.DIR_CW)
53myHBridge.enable(True)
54
55time.sleep(3)
56
57print "Reversing direction..."
58myHBridge.setDirection(upmL298.L298.DIR_NONE) # fast stop
59myHBridge.setDirection(upmL298.L298.DIR_CCW)
60time.sleep(3);
61
62myHBridge.setSpeed(0)
63myHBridge.enable(False)
64
65# exitHandler is called automatically
66