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 a Stepper motor on a L298 Dual H-Bridge.
29# This was tested with the NEMA-17 12V, 350mA, with 200 steps per rev.
30myHBridge = upmL298.L298(200, 3, 4, 7, 8, 9)
31
32
33## Exit handlers ##
34# This stops python from printing a stacktrace when you hit control-C
35def SIGINTHandler(signum, frame):
36	raise SystemExit
37
38# This lets you run code on exit,
39# including functions from myHBridge
40def exitHandler():
41	print "Exiting"
42	sys.exit(0)
43
44# Register exit handlers
45atexit.register(exitHandler)
46signal.signal(signal.SIGINT, SIGINTHandler)
47
48
49myHBridge.setSpeed(10) # 10 RPMs
50myHBridge.setDirection(upmL298.L298.DIR_CW)
51myHBridge.enable(True)
52
53print "Rotating 1 full revolution at 10 RPM speed."
54# move 200 steps, a full rev
55myHBridge.stepperSteps(200)
56
57print "Sleeping for 2 seconds..."
58time.sleep(2)
59
60print "Rotating 1/2 revolution in opposite direction at 10 RPM speed."
61myHBridge.setDirection(upmL298.L298.DIR_CCW)
62myHBridge.stepperSteps(100)
63
64# release
65myHBridge.enable(False)
66
67# exitHandler is called automatically
68