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 25 import time, sys, signal, atexit 26 import pyupm_uln200xa as upmULN200XA 27 28 # Instantiate a Stepper motor on a ULN200XA Darlington Motor Driver 29 # This was tested with the Grove Geared Step Motor with Driver 30 31 # Instantiate a ULN2003XA stepper object 32 myUln200xa = upmULN200XA.ULN200XA(4096, 8, 9, 10, 11) 33 34 ## Exit handlers ## 35 # This stops python from printing a stacktrace when you hit control-C 36 def SIGINTHandler(signum, frame): 37 raise SystemExit 38 39 # This lets you run code on exit, 40 # including functions from myUln200xa 41 def exitHandler(): 42 print "Exiting" 43 sys.exit(0) 44 45 # Register exit handlers 46 atexit.register(exitHandler) 47 signal.signal(signal.SIGINT, SIGINTHandler) 48 49 50 myUln200xa.setSpeed(5) # 5 RPMs 51 myUln200xa.setDirection(upmULN200XA.ULN200XA.DIR_CW) 52 53 print "Rotating 1 revolution clockwise." 54 myUln200xa.stepperSteps(4096) 55 56 print "Sleeping for 2 seconds..." 57 time.sleep(2) 58 59 print "Rotating 1/2 revolution counter clockwise." 60 myUln200xa.setDirection(upmULN200XA.ULN200XA.DIR_CCW) 61 myUln200xa.stepperSteps(2048) 62 63 # release 64 myUln200xa.release() 65 66 # exitHandler is called automatically 67
