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 25 import time, sys, signal, atexit 26 import 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. 30 myHBridge = 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 35 def SIGINTHandler(signum, frame): 36 raise SystemExit 37 38 # This lets you run code on exit, 39 # including functions from myHBridge 40 def exitHandler(): 41 print "Exiting" 42 sys.exit(0) 43 44 # Register exit handlers 45 atexit.register(exitHandler) 46 signal.signal(signal.SIGINT, SIGINTHandler) 47 48 49 myHBridge.setSpeed(10) # 10 RPMs 50 myHBridge.setDirection(upmL298.L298.DIR_CW) 51 myHBridge.enable(True) 52 53 print "Rotating 1 full revolution at 10 RPM speed." 54 # move 200 steps, a full rev 55 myHBridge.stepperSteps(200) 56 57 print "Sleeping for 2 seconds..." 58 time.sleep(2) 59 60 print "Rotating 1/2 revolution in opposite direction at 10 RPM speed." 61 myHBridge.setDirection(upmL298.L298.DIR_CCW) 62 myHBridge.stepperSteps(100) 63 64 # release 65 myHBridge.enable(False) 66 67 # exitHandler is called automatically 68
