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 24import time, sys, signal, atexit 25import pyupm_adafruitms1438 as upmAdafruitms1438 26 27 28# Import header values 29I2CBus = upmAdafruitms1438.ADAFRUITMS1438_I2C_BUS 30I2CAddr = upmAdafruitms1438.ADAFRUITMS1438_DEFAULT_I2C_ADDR 31 32M3Motor = upmAdafruitms1438.AdafruitMS1438.MOTOR_M3 33MotorDirCW = upmAdafruitms1438.AdafruitMS1438.DIR_CW 34MotorDirCCW = upmAdafruitms1438.AdafruitMS1438.DIR_CCW 35 36 37# Instantiate an Adafruit MS 1438 on I2C bus 0 38myMotorShield = upmAdafruitms1438.AdafruitMS1438(I2CBus, I2CAddr) 39 40 41## Exit handlers ## 42# This stops python from printing a stacktrace when you hit control-C 43def SIGINTHandler(signum, frame): 44 raise SystemExit 45 46# This function lets you run code on exit, 47# including functions from myMotorShield 48def exitHandler(): 49 myMotorShield.disableMotor(M3Motor) 50 print "Exiting" 51 sys.exit(0) 52 53# Register exit handlers 54atexit.register(exitHandler) 55signal.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 61myMotorShield.setPWMPeriod(50) 62 63# disable first, to be safe 64myMotorShield.disableMotor(M3Motor) 65 66# set speed at 50% 67myMotorShield.setMotorSpeed(M3Motor, 50) 68myMotorShield.setMotorDirection(M3Motor, MotorDirCW) 69 70print ("Spin M3 at half speed for 3 seconds, " 71"then reverse for 3 seconds.") 72myMotorShield.enableMotor(M3Motor) 73 74time.sleep(3) 75 76print "Reversing M3" 77myMotorShield.setMotorDirection(M3Motor, MotorDirCCW) 78 79time.sleep(3) 80 81print "Stopping M3" 82 83# exitHandler runs automatically 84