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      1 #!/usr/bin/python
      2 # Author: Jon Trulson <jtrulson (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
     25 import pyupm_grovemd as upmGrovemd
     26 
     27 I2C_BUS = upmGrovemd.GROVEMD_I2C_BUS
     28 I2C_ADDR = upmGrovemd.GROVEMD_DEFAULT_I2C_ADDR
     29 
     30 # Instantiate an I2C Grove Motor Driver on I2C bus 0
     31 myMotorDriver = upmGrovemd.GroveMD(I2C_BUS, I2C_ADDR)
     32 
     33 # This example demonstrates using the GroveMD to drive a stepper motor
     34 
     35 # configure it, for this example, we'll assume 200 steps per rev
     36 myMotorDriver.configStepper(200)
     37 
     38 # set for half a rotation
     39 myMotorDriver.setStepperSteps(100)
     40 
     41 # let it go - clockwise rotation, 10 RPM speed
     42 myMotorDriver.enableStepper(upmGrovemd.GroveMD.STEP_DIR_CW, 10)
     43 
     44 time.sleep(3)
     45 
     46 # Now do it backwards...
     47 myMotorDriver.setStepperSteps(100)
     48 myMotorDriver.enableStepper(upmGrovemd.GroveMD.STEP_DIR_CCW, 10)
     49 
     50 # now disable
     51 myMotorDriver.disableStepper()
     52 
     53