adafruitms1438: python examples for adafruitms1438 motor shield

Signed-off-by: Zion Orent <zorent@ics.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

examples/python/adafruitms1438-stepper.py

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+#!/usr/bin/python
+# Author: Zion Orent <zorent@ics.com>
+# Copyright (c) 2015 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import time, sys, signal, atexit
+import pyupm_adafruitms1438 as upmAdafruitms1438
+
+
+# Import header values
+I2CBus = upmAdafruitms1438.ADAFRUITMS1438_I2C_BUS
+I2CAddr = upmAdafruitms1438.ADAFRUITMS1438_DEFAULT_I2C_ADDR
+
+M12Motor = upmAdafruitms1438.AdafruitMS1438.STEPMOTOR_M12
+MotorDirCW = upmAdafruitms1438.AdafruitMS1438.DIR_CW
+MotorDirCCW = upmAdafruitms1438.AdafruitMS1438.DIR_CCW
+
+
+# Instantiate an Adafruit MS 1438 on I2C bus 0
+myMotorShield = upmAdafruitms1438.AdafruitMS1438(I2CBus, I2CAddr)
+
+
+## Exit handlers ##
+# This stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit,
+# including functions from myMotorShield
+def exitHandler():
+	myMotorShield.disableStepper(M12Motor)
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+
+# Setup for use with a stepper motor connected to the M1 & M2 ports
+
+# set a PWM period of 50Hz
+
+# disable first, to be safe
+myMotorShield.disableStepper(M12Motor)
+
+# configure for a NEMA-17, 200 steps per revolution
+myMotorShield.stepConfig(M12Motor, 200)
+
+# set speed at 10 RPM's
+myMotorShield.setStepperSpeed(M12Motor, 10);
+myMotorShield.setStepperDirection(M12Motor, MotorDirCW)
+
+# enable
+print "Enabling..."
+myMotorShield.enableStepper(M12Motor)
+
+print "Rotating 1 full revolution at 10 RPM speed."
+myMotorShield.stepperSteps(M12Motor, 200)
+
+print "Sleeping for 2 seconds..."
+time.sleep(2)
+print "Rotating 1/2 revolution in opposite direction at 10 RPM speed." 
+
+myMotorShield.setStepperDirection(M12Motor, MotorDirCCW)
+myMotorShield.stepperSteps(M12Motor, 100)
+
+print "Disabling..."
+
+# exitHandler runs automatically

examples/python/adafruitms1438.py

@@ -0,0 +1,83 @@
+#!/usr/bin/python
+# Author: Zion Orent <zorent@ics.com>
+# Copyright (c) 2015 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import time, sys, signal, atexit
+import pyupm_adafruitms1438 as upmAdafruitms1438
+
+
+# Import header values
+I2CBus = upmAdafruitms1438.ADAFRUITMS1438_I2C_BUS
+I2CAddr = upmAdafruitms1438.ADAFRUITMS1438_DEFAULT_I2C_ADDR
+
+M3Motor = upmAdafruitms1438.AdafruitMS1438.MOTOR_M3
+MotorDirCW = upmAdafruitms1438.AdafruitMS1438.DIR_CW
+MotorDirCCW = upmAdafruitms1438.AdafruitMS1438.DIR_CCW
+
+
+# Instantiate an Adafruit MS 1438 on I2C bus 0
+myMotorShield = upmAdafruitms1438.AdafruitMS1438(I2CBus, I2CAddr)
+
+
+## Exit handlers ##
+# This stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit,
+# including functions from myMotorShield
+def exitHandler():
+	myMotorShield.disableMotor(M3Motor)
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+
+# Setup for use with a DC motor connected to the M3 port
+
+# set a PWM period of 50Hz
+myMotorShield.setPWMPeriod(50)
+
+# disable first, to be safe
+myMotorShield.disableMotor(M3Motor)
+
+# set speed at 50%
+myMotorShield.setMotorSpeed(M3Motor, 50)
+myMotorShield.setMotorDirection(M3Motor, MotorDirCW)
+
+print ("Spin M3 at half speed for 3 seconds, "
+"then reverse for 3 seconds.")
+myMotorShield.enableMotor(M3Motor)
+
+time.sleep(3)
+
+print "Reversing M3"
+myMotorShield.setMotorDirection(M3Motor, MotorDirCCW)
+
+time.sleep(3)
+
+print "Stopping M3"
+
+# exitHandler runs automatically