Swap to use Adafruit_GPIO library, port to support both Python 2 and 3.

Adafruit_MotorHAT/Adafruit_MotorHAT.py → Adafruit_MotorHAT/Adafruit_MotorHAT_Motors.py

@@ -1,8 +1,8 @@
-#!/usr/bin/python
-
-from Adafruit_PWM_Servo_Driver import PWM
 import time
 
+from Adafruit_MotorHAT.Adafruit_PWM_Servo_Driver import PWM
+
+
 class Adafruit_StepperMotor:
     MICROSTEPS = 8
     MICROSTEP_CURVE = [0, 50, 98, 142, 180, 212, 236, 250, 255]
@@ -47,25 +47,25 @@ def oneStep(self, dir, style):
 
         # first determine what sort of stepping procedure we're up to
         if (style == Adafruit_MotorHAT.SINGLE):
-            if ((self.currentstep/(self.MICROSTEPS/2)) % 2):
+            if ((self.currentstep//(self.MICROSTEPS//2)) % 2):
                 # we're at an odd step, weird
                 if (dir == Adafruit_MotorHAT.FORWARD):
-                    self.currentstep += self.MICROSTEPS/2
+                    self.currentstep += self.MICROSTEPS//2
                 else:
-                    self.currentstep -= self.MICROSTEPS/2
+                    self.currentstep -= self.MICROSTEPS//2
             else:
                 # go to next even step
                 if (dir == Adafruit_MotorHAT.FORWARD):
                     self.currentstep += self.MICROSTEPS
                 else:
                     self.currentstep -= self.MICROSTEPS
         if (style == Adafruit_MotorHAT.DOUBLE):
-            if not (self.currentstep/(self.MICROSTEPS/2) % 2):
+            if not (self.currentstep//(self.MICROSTEPS//2) % 2):
                 # we're at an even step, weird
                 if (dir == Adafruit_MotorHAT.FORWARD):
-                    self.currentstep += self.MICROSTEPS/2
+                    self.currentstep += self.MICROSTEPS//2
                 else:
-                    self.currentstep -= self.MICROSTEPS/2
+                    self.currentstep -= self.MICROSTEPS//2
             else:
                 # go to next odd step
                 if (dir == Adafruit_MotorHAT.FORWARD):
@@ -74,9 +74,9 @@ def oneStep(self, dir, style):
                     self.currentstep -= self.MICROSTEPS
         if (style == Adafruit_MotorHAT.INTERLEAVE):
             if (dir == Adafruit_MotorHAT.FORWARD):
-                self.currentstep += self.MICROSTEPS/2
+                self.currentstep += self.MICROSTEPS//2
             else:
-                self.currentstep -= self.MICROSTEPS/2
+                self.currentstep -= self.MICROSTEPS//2
 
         if (style == Adafruit_MotorHAT.MICROSTEP):
             if (dir == Adafruit_MotorHAT.FORWARD):
@@ -132,7 +132,7 @@ def oneStep(self, dir, style):
                 [0, 0, 1, 1],
                 [0, 0, 0, 1],
                 [1, 0, 0, 1] ]
-            coils = step2coils[self.currentstep/(self.MICROSTEPS/2)]
+            coils = step2coils[self.currentstep//(self.MICROSTEPS//2)]
 
         #print "coils state = " + str(coils)
         self.MC.setPin(self.AIN2, coils[0])
@@ -212,6 +212,7 @@ def setSpeed(self, speed):
             speed = 255
         self.MC._pwm.setPWM(self.PWMpin, 0, speed*16)
 
+
 class Adafruit_MotorHAT:
     FORWARD = 1
     BACKWARD = 2
@@ -223,12 +224,11 @@ class Adafruit_MotorHAT:
     INTERLEAVE = 3
     MICROSTEP = 4
 
-    def __init__(self, addr = 0x60, freq = 1600):
-        self._i2caddr = addr            # default addr on HAT
-        self._frequency = freq        # default @1600Hz PWM freq
+    def __init__(self, addr = 0x60, freq = 1600, i2c=None, i2c_bus=None):
+        self._frequency = freq
         self.motors = [ Adafruit_DCMotor(self, m) for m in range(4) ]
         self.steppers = [ Adafruit_StepperMotor(self, 1), Adafruit_StepperMotor(self, 2) ]
-        self._pwm =  PWM(addr, debug=False)
+        self._pwm = PWM(addr, debug=False, i2c=i2c, i2c_bus=i2c_bus)
         self._pwm.setPWMFreq(self._frequency)
 
     def setPin(self, pin, value):