#!/usr/bin/python
# Author: Jon Trulson <jtrulson@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,
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# 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.
#
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import time
import pyupm_grovemd as upmGrovemd

I2C_BUS = upmGrovemd.GROVEMD_I2C_BUS
I2C_ADDR = upmGrovemd.GROVEMD_DEFAULT_I2C_ADDR

# Instantiate an I2C Grove Motor Driver on I2C bus 0
myMotorDriver = upmGrovemd.GroveMD(I2C_BUS, I2C_ADDR)

# This example demonstrates using the GroveMD to drive a stepper motor

# configure it, for this example, we'll assume 200 steps per rev
myMotorDriver.configStepper(200)

# set for half a rotation
myMotorDriver.setStepperSteps(100)

# let it go - clockwise rotation, 10 RPM speed
myMotorDriver.enableStepper(upmGrovemd.GroveMD.STEP_DIR_CW, 10)

time.sleep(3)

# Now do it backwards...
myMotorDriver.setStepperSteps(100)
myMotorDriver.enableStepper(upmGrovemd.GroveMD.STEP_DIR_CCW, 10)

# now disable
myMotorDriver.disableStepper()