2015-03-04 15:36:56 -07:00
|
|
|
/*
|
|
|
|
* 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,
|
|
|
|
* distribute, sublicense, and/or sell copies of the Software, and to
|
|
|
|
* 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.
|
|
|
|
*
|
|
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
|
|
|
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
|
|
|
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
|
|
|
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
|
|
|
|
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
|
|
|
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
|
|
|
|
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
|
|
|
*/
|
|
|
|
|
|
|
|
#include <iostream>
|
2017-08-30 15:00:29 -07:00
|
|
|
|
2016-04-25 14:27:51 -07:00
|
|
|
#include "adafruitms1438.hpp"
|
2017-08-30 15:00:29 -07:00
|
|
|
#include "upm_utilities.h"
|
2015-03-04 15:36:56 -07:00
|
|
|
|
|
|
|
using namespace std;
|
|
|
|
using namespace upm;
|
|
|
|
|
2017-08-30 15:00:29 -07:00
|
|
|
int
|
|
|
|
main(int argc, char** argv)
|
2015-03-04 15:36:56 -07:00
|
|
|
{
|
2017-08-30 15:00:29 -07:00
|
|
|
//! [Interesting]
|
|
|
|
// Instantiate an Adafruit MS 1438 on I2C bus 0
|
2015-03-04 15:36:56 -07:00
|
|
|
|
2017-08-30 15:00:29 -07:00
|
|
|
upm::AdafruitMS1438 ms(ADAFRUITMS1438_I2C_BUS, ADAFRUITMS1438_DEFAULT_I2C_ADDR);
|
2015-03-04 15:36:56 -07:00
|
|
|
|
2017-08-30 15:00:29 -07:00
|
|
|
// Setup for use with a DC motor connected to the M3 port
|
2015-03-04 15:36:56 -07:00
|
|
|
|
2017-08-30 15:00:29 -07:00
|
|
|
// set a PWM period of 50Hz
|
|
|
|
ms.setPWMPeriod(50);
|
2015-03-04 15:36:56 -07:00
|
|
|
|
2017-08-30 15:00:29 -07:00
|
|
|
// disable first, to be safe
|
|
|
|
ms.disableMotor(AdafruitMS1438::MOTOR_M3);
|
2015-03-04 15:36:56 -07:00
|
|
|
|
2017-08-30 15:00:29 -07:00
|
|
|
// set speed at 50%
|
|
|
|
ms.setMotorSpeed(AdafruitMS1438::MOTOR_M3, 50);
|
|
|
|
ms.setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CW);
|
2015-03-04 15:36:56 -07:00
|
|
|
|
2017-08-30 15:00:29 -07:00
|
|
|
cout << "Spin M3 at half speed for 3 seconds, then reverse for 3 seconds." << endl;
|
2015-03-04 15:36:56 -07:00
|
|
|
|
2017-08-30 15:00:29 -07:00
|
|
|
ms.enableMotor(AdafruitMS1438::MOTOR_M3);
|
2015-03-04 15:36:56 -07:00
|
|
|
|
2017-08-30 15:00:29 -07:00
|
|
|
upm_delay(3);
|
2015-03-04 15:36:56 -07:00
|
|
|
|
2017-08-30 15:00:29 -07:00
|
|
|
cout << "Reversing M3" << endl;
|
|
|
|
ms.setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CCW);
|
2015-03-04 15:36:56 -07:00
|
|
|
|
2017-08-30 15:00:29 -07:00
|
|
|
upm_delay(3);
|
2015-03-04 15:36:56 -07:00
|
|
|
|
2017-08-30 15:00:29 -07:00
|
|
|
cout << "Stopping M3" << endl;
|
|
|
|
ms.disableMotor(AdafruitMS1438::MOTOR_M3);
|
2015-03-04 15:36:56 -07:00
|
|
|
|
2017-08-30 15:00:29 -07:00
|
|
|
cout << "Exiting" << endl;
|
2015-03-04 15:36:56 -07:00
|
|
|
|
2017-08-30 15:00:29 -07:00
|
|
|
//! [Interesting]
|
2015-03-04 15:36:56 -07:00
|
|
|
|
2017-08-30 15:00:29 -07:00
|
|
|
return 0;
|
2015-03-04 15:36:56 -07:00
|
|
|
}
|