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      1 #!/usr/bin/python
      2 # Author: Zion Orent <zorent (at] 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 import time, sys, signal, atexit
     25 import pyupm_adafruitms1438 as upmAdafruitms1438
     26 
     27 
     28 # Import header values
     29 I2CBus = upmAdafruitms1438.ADAFRUITMS1438_I2C_BUS
     30 I2CAddr = upmAdafruitms1438.ADAFRUITMS1438_DEFAULT_I2C_ADDR
     31 
     32 M3Motor = upmAdafruitms1438.AdafruitMS1438.MOTOR_M3
     33 MotorDirCW = upmAdafruitms1438.AdafruitMS1438.DIR_CW
     34 MotorDirCCW = upmAdafruitms1438.AdafruitMS1438.DIR_CCW
     35 
     36 
     37 # Instantiate an Adafruit MS 1438 on I2C bus 0
     38 myMotorShield = upmAdafruitms1438.AdafruitMS1438(I2CBus, I2CAddr)
     39 
     40 
     41 ## Exit handlers ##
     42 # This stops python from printing a stacktrace when you hit control-C
     43 def SIGINTHandler(signum, frame):
     44 	raise SystemExit
     45 
     46 # This function lets you run code on exit,
     47 # including functions from myMotorShield
     48 def exitHandler():
     49 	myMotorShield.disableMotor(M3Motor)
     50 	print "Exiting"
     51 	sys.exit(0)
     52 
     53 # Register exit handlers
     54 atexit.register(exitHandler)
     55 signal.signal(signal.SIGINT, SIGINTHandler)
     56 
     57 
     58 # Setup for use with a DC motor connected to the M3 port
     59 
     60 # set a PWM period of 50Hz
     61 myMotorShield.setPWMPeriod(50)
     62 
     63 # disable first, to be safe
     64 myMotorShield.disableMotor(M3Motor)
     65 
     66 # set speed at 50%
     67 myMotorShield.setMotorSpeed(M3Motor, 50)
     68 myMotorShield.setMotorDirection(M3Motor, MotorDirCW)
     69 
     70 print ("Spin M3 at half speed for 3 seconds, "
     71 "then reverse for 3 seconds.")
     72 myMotorShield.enableMotor(M3Motor)
     73 
     74 time.sleep(3)
     75 
     76 print "Reversing M3"
     77 myMotorShield.setMotorDirection(M3Motor, MotorDirCCW)
     78 
     79 time.sleep(3)
     80 
     81 print "Stopping M3"
     82 
     83 # exitHandler runs automatically
     84