| #!/usr/bin/python |
| # Author: Mihai Tudor Panu <mihai.tudor.panu@intel.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_stepmotor as mylib |
| |
| # Instantiate a StepMotor object on pins 2 (dir) and 3 (step) |
| stepper = mylib.StepMotor(2, 3) |
| |
| ## 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 |
| def exitHandler(): |
| print "Exiting" |
| sys.exit(0) |
| |
| # Register exit handlers |
| atexit.register(exitHandler) |
| signal.signal(signal.SIGINT, SIGINTHandler) |
| |
| print "Rotating 1 revolution forward and back at 60 rpm." |
| stepper.setSpeed(60) |
| stepper.stepForward(200) |
| time.sleep(1) |
| stepper.stepBackward(200) |
| time.sleep(1) |
| |
| print "Rotating 1 revolution forward and back at 150 rpm." |
| stepper.setSpeed(150) |
| stepper.stepForward(200) |
| time.sleep(1) |
| stepper.stepBackward(200) |
| time.sleep(1) |
| |
| print "Rotating 1 revolution forward and back at 300 rpm." |
| stepper.setSpeed(300) |
| stepper.stepForward(200) |
| time.sleep(1) |
| stepper.stepBackward(200) |
| time.sleep(1) |