from Adafruit_MotorShield import Adafruit_MotorShield
from Adafruit_StepperMotor import Adafruit_StepperMotor
from sys import argv
import time
# Create the motor shield object with the default I2C address
AFMS = Adafruit_MotorShield()
# Or, create it with a different I2C address (say for stacking)
# AFMS = Adafruit_MotorShield(0x61);
# Connect a stepper motor with 200 steps per revolution (1.8 degree)
# to motor port #2 (M3 and M4)
myMotor = AFMS.getStepper(200, 1)
AFMS.begin() # create with the default frequency 1.6KHz
#AFMS.begin(1100); #// OR with a different frequency, say 1KHz
myMotor.setSpeed(4000)
# 10 rpm
try:
myMotor.step(
int(argv[1]) * 200, Adafruit_StepperMotor.FORWARD,
Adafruit_StepperMotor.DOUBLE)
except KeyboardInterrupt:
myMotor.release() #remove current flow accross motor
myMotor.release()
STEP_DIRECTION = {'FORWARD': Adafruit_StepperMotor.FORWARD, 'BACKWARD': Adafruit_StepperMotor.BACKWARD}
if (len(sys.argv) != 7):
print 'Invalide command missing param'
exit(1)
shieldID = int(sys.argv[1], 16)
motorID = int(sys.argv[2])
stepMode = sys.argv[3]
direction = sys.argv[4]
speed = int(sys.argv[5])
step = int(sys.argv[6])
# Create the motor shield object with the I2C address
AFMS = Adafruit_MotorShield(shieldID)
# Connect a stepper motor with 200 steps per revolution (1.8 degree)
# to motor port #2 (M3 and M4)
myMotor = AFMS.getStepper(200, motorID)
AFMS.begin() # create with the default frequency 1.6KHz
#AFMS.begin(1000); // OR with a different frequency, say 1KHz
myMotor.setSpeed(speed); # 10 rpm
try:
myMotor.step(step, STEP_DIRECTION[direction], STEP_MODE[stepMode])
myMotor.release()
print "OK"
except KeyboardInterrupt:
