l298: python examples for l298 dual-H bridge DC motor and stepper motor

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

examples/python/l298-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_l298 as upmL298
+
+# Instantiate a Stepper motor on a L298 Dual H-Bridge.
+# This was tested with the NEMA-17 12V, 350mA, with 200 steps per rev.
+myHBridge = upmL298.L298(200, 3, 4, 7, 8, 9)
+
+
+## Exit handlers ##
+# This stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This lets you run code on exit,
+# including functions from myHBridge
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+
+myHBridge.setSpeed(10) # 10 RPMs
+myHBridge.setDirection(upmL298.L298.DIR_CW)
+myHBridge.enable(True)
+
+print "Rotating 1 full revolution at 10 RPM speed."
+# move 200 steps, a full rev
+myHBridge.stepperSteps(200)
+
+print "Sleeping for 2 seconds..."
+time.sleep(2)
+
+print "Rotating 1/2 revolution in opposite direction at 10 RPM speed."
+myHBridge.setDirection(upmL298.L298.DIR_CCW)
+myHBridge.stepperSteps(100)
+
+# release
+myHBridge.enable(False)
+
+# exitHandler is called automatically

examples/python/l298.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_l298 as upmL298
+
+# Instantiate one of the 2 possible DC motors on a L298 Dual
+# H-Bridge.  For controlling a stepper motor, see the l298-stepper
+# example.
+myHBridge = upmL298.L298(3, 4, 7)
+
+
+## Exit handlers ##
+# This stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This lets you run code on exit,
+# including functions from myHBridge
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+
+print "Starting motor at 50% for 3 seconds..."
+myHBridge.setSpeed(50)
+myHBridge.setDirection(upmL298.L298.DIR_CW)
+myHBridge.enable(True)
+
+time.sleep(3)
+
+print "Reversing direction..."
+myHBridge.setDirection(upmL298.L298.DIR_NONE) # fast stop
+myHBridge.setDirection(upmL298.L298.DIR_CCW)
+time.sleep(3);
+
+myHBridge.setSpeed(0)
+myHBridge.enable(False)
+
+# exitHandler is called automatically