init

examples/StackingTest.py

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+#!/usr/bin/python
+from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_StepperMotor
+import time
+import atexit
+import threading
+import random
+
+# bottom hat is default address 0x60
+bottomhat = Adafruit_MotorHAT(addr=0x60)
+# top hat has A0 jumper closed, so its address 0x61
+tophat = Adafruit_MotorHAT(addr=0x61)
+
+# create empty threads (these will hold the stepper 1, 2 & 3 threads)
+stepperThreads = [threading.Thread(), threading.Thread(), threading.Thread()]
+
+# recommended for auto-disabling motors on shutdown!
+def turnOffMotors():
+	tophat.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
+	tophat.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
+	tophat.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
+	tophat.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
+	bottomhat.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
+	bottomhat.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
+	bottomhat.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
+	bottomhat.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
+
+atexit.register(turnOffMotors)
+
+myStepper1 = bottomhat.getStepper(200, 1)  	# 200 steps/rev, motor port #1
+myStepper2 = bottomhat.getStepper(200, 2)  	# 200 steps/rev, motor port #2
+myStepper3 = tophat.getStepper(200, 1)  	# 200 steps/rev, motor port #1
+
+myStepper1.setSpeed(60)  		# 60 RPM
+myStepper2.setSpeed(30)  		# 30 RPM
+myStepper3.setSpeed(15)  		# 15 RPM
+
+# get a DC motor!
+myMotor = tophat.getMotor(3)
+# set the speed to start, from 0 (off) to 255 (max speed)
+myMotor.setSpeed(150)
+# turn on motor
+myMotor.run(Adafruit_MotorHAT.FORWARD);
+
+
+stepstyles = [Adafruit_MotorHAT.SINGLE, Adafruit_MotorHAT.DOUBLE, Adafruit_MotorHAT.INTERLEAVE]
+steppers = [myStepper1, myStepper2, myStepper3]
+
+def stepper_worker(stepper, numsteps, direction, style):
+	#print("Steppin!")
+	stepper.step(numsteps, direction, style)
+	#print("Done")
+
+while (True):
+	for i in range(3):
+		if not stepperThreads[i].isAlive():
+			randomdir = random.randint(0, 1)
+			print("Stepper %d" % i),
+			if (randomdir == 0):
+        	                dir = Adafruit_MotorHAT.FORWARD
+	                        print("forward"),
+			else:
+	                        dir = Adafruit_MotorHAT.BACKWARD
+				print("backward"),
+			randomsteps = random.randint(10,50)
+			print("%d steps" % randomsteps)
+			stepperThreads[i] = threading.Thread(target=stepper_worker, args=(steppers[i], randomsteps, dir, stepstyles[random.randint(0,len(stepstyles)-1)],))
+			stepperThreads[i].start()
+
+			# also, lets switch around the DC motor!
+			myMotor.setSpeed(random.randint(0,255))  # random speed
+			#myMotor.run(random.randint(0,1)) # random forward/back