New class and New example

dw640HAT/dw640HAT.py

@@ -191,19 +191,21 @@ class dw_DCMotor:
                 elif (num == 5):
                          in2 = 2  #phase
                          in1 = 3  #enable
-
                 else:
                         raise NameError('MotorHAT Motor must be between 1 and 6 inclusive')
-                self.PHpin = in1
+
-                self.ENpin = in2
+                self.PHpin = in2
+                self.ENpin = in1
+                # switch off
+                self.run(dw_MotorCONTROL.RELEASE, 0)
 
         def setMotorSpeed(self, value):
                 if(value > 0) and (value <= 255):
-			self.run(self, dw_MotorCONTROL.FORWARD, value)
+                        self.run(dw_MotorCONTROL.FORWARD, value)
                 if(value == 0):
-			self.run(self, dw_MotorCONTROL.RELEASE, value)
+                        self.run(dw_MotorCONTROL.RELEASE, value)
                 if(value < 0) and (value >= -255):
-			self.run(self, dw_MotorCONTROL.BACKWARD, abs(value))
+                        self.run(dw_MotorCONTROL.BACKWARD, abs(value))
 
         def run(self, command, speed = 0):
                 if not self.MC:
@@ -242,12 +244,14 @@ class dw_MotorCONTROL:
         def __init__(self, addr = 0x60, freq = 1600):
                 self._i2caddr = addr            # default addr on HAT
                 self._frequency = freq          # default @1600Hz PWM freq
-		self.motors = [ dw_DCMotor(self, m) for m in range(6) ]
                 # self.steppers = [ Adafruit_StepperMotor(self, 1), Adafruit_StepperMotor(self, 2) ]
                 self._pwm =  PWM(addr, debug=False)
                 self._pwm.setPWMFreq(self._frequency)
                 # Just gonna default to high for now
                 GPIO.setmode(GPIO.BCM)
+
+                GPIO.setwarnings(False)
+                
                 GPIO.setup(17, GPIO.OUT)
                 GPIO.setup(27, GPIO.OUT)
                 GPIO.setup(22, GPIO.OUT)
@@ -256,6 +260,8 @@ class dw_MotorCONTROL:
                 GPIO.output(27, GPIO.HIGH)
                 GPIO.output(22, GPIO.HIGH)
 
+                self.motors = [ dw_DCMotor(self, m) for m in range(6) ]
+
         def setPin(self, pin, value):
                 if (pin < 0) or (pin > 15):
                         raise NameError('PWM pin must be between 0 and 15 inclusive')
@@ -266,12 +272,11 @@ class dw_MotorCONTROL:
                 if (value == 1):
                         self._pwm.setPWM(pin, 4096, 0)
 
-	# def getStepper(self, steps, num):
-    #             if (num < 1) or (num > 2):
-    #                     raise NameError('MotorHAT Stepper must be between 1 and 2 inclusive')
-	# 	return self.steppers[num-1]
-
         def getMotor(self, num):
                 if (num < 1) or (num > 6):
                         raise NameError('MotorHAT Motor must be between 1 and 6 inclusive')
                 return self.motors[num-1]
+
+        def allOff(self):
+                for y in range(5):
+                        self.motors[y].run(dw_MotorCONTROL.RELEASE, 0)

examples/640test.py

@@ -0,0 +1,21 @@
+import time
+from dw640HAT import dw_MotorCONTROL, dw_DCMotor
+
+dw = dw_MotorCONTROL( addr=0x60 )
+m = dw.getMotor(1)
+
+m.run(dw_MotorCONTROL.RELEASE)
+time.sleep(5)
+
+##time.sleep(10)
+print "Set forward"
+m.setMotorSpeed(255)
+time.sleep(5)
+print "stop"
+m.setMotorSpeed(0)
+time.sleep(5)
+print "Set reverse"
+m.setMotorSpeed(-255)
+time.sleep(5)
+print "stop"
+m.run(dw_MotorCONTROL.RELEASE)

ez_setup.py

@@ -1,332 +0,0 @@
-#!/usr/bin/env python
-"""Bootstrap setuptools installation
-
-To use setuptools in your package's setup.py, include this
-file in the same directory and add this to the top of your setup.py::
-
-    from ez_setup import use_setuptools
-    use_setuptools()
-
-To require a specific version of setuptools, set a download
-mirror, or use an alternate download directory, simply supply
-the appropriate options to ``use_setuptools()``.
-
-This file can also be run as a script to install or upgrade setuptools.
-"""
-import os
-import shutil
-import sys
-import tempfile
-import zipfile
-import optparse
-import subprocess
-import platform
-import textwrap
-import contextlib
-
-from distutils import log
-
-try:
-    from site import USER_SITE
-except ImportError:
-    USER_SITE = None
-
-DEFAULT_VERSION = "3.5.1"
-DEFAULT_URL = "https://pypi.python.org/packages/source/s/setuptools/"
-
-def _python_cmd(*args):
-    """
-    Return True if the command succeeded.
-    """
-    args = (sys.executable,) + args
-    return subprocess.call(args) == 0
-
-
-def _install(archive_filename, install_args=()):
-    with archive_context(archive_filename):
-        # installing
-        log.warn('Installing Setuptools')
-        if not _python_cmd('setup.py', 'install', *install_args):
-            log.warn('Something went wrong during the installation.')
-            log.warn('See the error message above.')
-            # exitcode will be 2
-            return 2
-
-
-def _build_egg(egg, archive_filename, to_dir):
-    with archive_context(archive_filename):
-        # building an egg
-        log.warn('Building a Setuptools egg in %s', to_dir)
-        _python_cmd('setup.py', '-q', 'bdist_egg', '--dist-dir', to_dir)
-    # returning the result
-    log.warn(egg)
-    if not os.path.exists(egg):
-        raise IOError('Could not build the egg.')
-
-
-def get_zip_class():
-    """
-    Supplement ZipFile class to support context manager for Python 2.6
-    """
-    class ContextualZipFile(zipfile.ZipFile):
-        def __enter__(self):
-            return self
-        def __exit__(self, type, value, traceback):
-            self.close
-    return zipfile.ZipFile if hasattr(zipfile.ZipFile, '__exit__') else \
-        ContextualZipFile
-
-
-@contextlib.contextmanager
-def archive_context(filename):
-    # extracting the archive
-    tmpdir = tempfile.mkdtemp()
-    log.warn('Extracting in %s', tmpdir)
-    old_wd = os.getcwd()
-    try:
-        os.chdir(tmpdir)
-        with get_zip_class()(filename) as archive:
-            archive.extractall()
-
-        # going in the directory
-        subdir = os.path.join(tmpdir, os.listdir(tmpdir)[0])
-        os.chdir(subdir)
-        log.warn('Now working in %s', subdir)
-        yield
-
-    finally:
-        os.chdir(old_wd)
-        shutil.rmtree(tmpdir)
-
-
-def _do_download(version, download_base, to_dir, download_delay):
-    egg = os.path.join(to_dir, 'setuptools-%s-py%d.%d.egg'
-                       % (version, sys.version_info[0], sys.version_info[1]))
-    if not os.path.exists(egg):
-        archive = download_setuptools(version, download_base,
-                                      to_dir, download_delay)
-        _build_egg(egg, archive, to_dir)
-    sys.path.insert(0, egg)
-
-    # Remove previously-imported pkg_resources if present (see
-    # https://bitbucket.org/pypa/setuptools/pull-request/7/ for details).
-    if 'pkg_resources' in sys.modules:
-        del sys.modules['pkg_resources']
-
-    import setuptools
-    setuptools.bootstrap_install_from = egg
-
-
-def use_setuptools(version=DEFAULT_VERSION, download_base=DEFAULT_URL,
-        to_dir=os.curdir, download_delay=15):
-    to_dir = os.path.abspath(to_dir)
-    rep_modules = 'pkg_resources', 'setuptools'
-    imported = set(sys.modules).intersection(rep_modules)
-    try:
-        import pkg_resources
-    except ImportError:
-        return _do_download(version, download_base, to_dir, download_delay)
-    try:
-        pkg_resources.require("setuptools>=" + version)
-        return
-    except pkg_resources.DistributionNotFound:
-        return _do_download(version, download_base, to_dir, download_delay)
-    except pkg_resources.VersionConflict as VC_err:
-        if imported:
-            msg = textwrap.dedent("""
-                The required version of setuptools (>={version}) is not available,
-                and can't be installed while this script is running. Please
-                install a more recent version first, using
-                'easy_install -U setuptools'.
-
-                (Currently using {VC_err.args[0]!r})
-                """).format(VC_err=VC_err, version=version)
-            sys.stderr.write(msg)
-            sys.exit(2)
-
-        # otherwise, reload ok
-        del pkg_resources, sys.modules['pkg_resources']
-        return _do_download(version, download_base, to_dir, download_delay)
-
-def _clean_check(cmd, target):
-    """
-    Run the command to download target. If the command fails, clean up before
-    re-raising the error.
-    """
-    try:
-        subprocess.check_call(cmd)
-    except subprocess.CalledProcessError:
-        if os.access(target, os.F_OK):
-            os.unlink(target)
-        raise
-
-def download_file_powershell(url, target):
-    """
-    Download the file at url to target using Powershell (which will validate
-    trust). Raise an exception if the command cannot complete.
-    """
-    target = os.path.abspath(target)
-    cmd = [
-        'powershell',
-        '-Command',
-        "(new-object System.Net.WebClient).DownloadFile(%(url)r, %(target)r)" % vars(),
-    ]
-    _clean_check(cmd, target)
-
-def has_powershell():
-    if platform.system() != 'Windows':
-        return False
-    cmd = ['powershell', '-Command', 'echo test']
-    devnull = open(os.path.devnull, 'wb')
-    try:
-        try:
-            subprocess.check_call(cmd, stdout=devnull, stderr=devnull)
-        except Exception:
-            return False
-    finally:
-        devnull.close()
-    return True
-
-download_file_powershell.viable = has_powershell
-
-def download_file_curl(url, target):
-    cmd = ['curl', url, '--silent', '--output', target]
-    _clean_check(cmd, target)
-
-def has_curl():
-    cmd = ['curl', '--version']
-    devnull = open(os.path.devnull, 'wb')
-    try:
-        try:
-            subprocess.check_call(cmd, stdout=devnull, stderr=devnull)
-        except Exception:
-            return False
-    finally:
-        devnull.close()
-    return True
-
-download_file_curl.viable = has_curl
-
-def download_file_wget(url, target):
-    cmd = ['wget', url, '--quiet', '--output-document', target]
-    _clean_check(cmd, target)
-
-def has_wget():
-    cmd = ['wget', '--version']
-    devnull = open(os.path.devnull, 'wb')
-    try:
-        try:
-            subprocess.check_call(cmd, stdout=devnull, stderr=devnull)
-        except Exception:
-            return False
-    finally:
-        devnull.close()
-    return True
-
-download_file_wget.viable = has_wget
-
-def download_file_insecure(url, target):
-    """
-    Use Python to download the file, even though it cannot authenticate the
-    connection.
-    """
-    try:
-        from urllib.request import urlopen
-    except ImportError:
-        from urllib2 import urlopen
-    src = dst = None
-    try:
-        src = urlopen(url)
-        # Read/write all in one block, so we don't create a corrupt file
-        # if the download is interrupted.
-        data = src.read()
-        dst = open(target, "wb")
-        dst.write(data)
-    finally:
-        if src:
-            src.close()
-        if dst:
-            dst.close()
-
-download_file_insecure.viable = lambda: True
-
-def get_best_downloader():
-    downloaders = [
-        download_file_powershell,
-        download_file_curl,
-        download_file_wget,
-        download_file_insecure,
-    ]
-
-    for dl in downloaders:
-        if dl.viable():
-            return dl
-
-def download_setuptools(version=DEFAULT_VERSION, download_base=DEFAULT_URL,
-        to_dir=os.curdir, delay=15, downloader_factory=get_best_downloader):
-    """
-    Download setuptools from a specified location and return its filename
-
-    `version` should be a valid setuptools version number that is available
-    as an egg for download under the `download_base` URL (which should end
-    with a '/'). `to_dir` is the directory where the egg will be downloaded.
-    `delay` is the number of seconds to pause before an actual download
-    attempt.
-
-    ``downloader_factory`` should be a function taking no arguments and
-    returning a function for downloading a URL to a target.
-    """
-    # making sure we use the absolute path
-    to_dir = os.path.abspath(to_dir)
-    zip_name = "setuptools-%s.zip" % version
-    url = download_base + zip_name
-    saveto = os.path.join(to_dir, zip_name)
-    if not os.path.exists(saveto):  # Avoid repeated downloads
-        log.warn("Downloading %s", url)
-        downloader = downloader_factory()
-        downloader(url, saveto)
-    return os.path.realpath(saveto)
-
-def _build_install_args(options):
-    """
-    Build the arguments to 'python setup.py install' on the setuptools package
-    """
-    return ['--user'] if options.user_install else []
-
-def _parse_args():
-    """
-    Parse the command line for options
-    """
-    parser = optparse.OptionParser()
-    parser.add_option(
-        '--user', dest='user_install', action='store_true', default=False,
-        help='install in user site package (requires Python 2.6 or later)')
-    parser.add_option(
-        '--download-base', dest='download_base', metavar="URL",
-        default=DEFAULT_URL,
-        help='alternative URL from where to download the setuptools package')
-    parser.add_option(
-        '--insecure', dest='downloader_factory', action='store_const',
-        const=lambda: download_file_insecure, default=get_best_downloader,
-        help='Use internal, non-validating downloader'
-    )
-    parser.add_option(
-        '--version', help="Specify which version to download",
-        default=DEFAULT_VERSION,
-    )
-    options, args = parser.parse_args()
-    # positional arguments are ignored
-    return options
-
-def main():
-    """Install or upgrade setuptools and EasyInstall"""
-    options = _parse_args()
-    archive = download_setuptools(
-        version=options.version,
-        download_base=options.download_base,
-        downloader_factory=options.downloader_factory,
-    )
-    return _install(archive, _build_install_args(options))
-
-if __name__ == '__main__':
-    sys.exit(main())

setup.py

@@ -1,14 +0,0 @@
-from ez_setup import use_setuptools
-use_setuptools()
-from setuptools import setup, find_packages
-
-setup(name              = 'Adafruit_MotorHAT',
-      version           = '1.3.0',
-      author            = 'Limor Fried',
-      author_email      = 'support@adafruit.com',
-      description       = 'Library for Adafruit Motor HAT',
-      license           = 'MIT',
-      url               = 'https://github.com/adafruit/Adafruit_Python_MotorHAT/',
-      dependency_links  = ['https://github.com/adafruit/Adafruit_Python_GPIO/tarball/master#egg=Adafruit-GPIO-0.7'],
-      install_requires  = ['Adafruit-GPIO>=0.7'],
-      packages          = find_packages())