2015-09-16 17:33:23 -06:00
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2015 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <iostream>
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2017-08-30 15:00:29 -07:00
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2016-04-25 14:27:51 -07:00
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#include "grovemd.hpp"
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#include "upm_utilities.h"
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using namespace std;
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2017-08-30 15:00:29 -07:00
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int
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main(int argc, char** argv)
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2015-09-16 17:33:23 -06:00
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{
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2017-08-30 15:00:29 -07:00
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//! [Interesting]
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// Instantiate an I2C Grove Motor Driver on I2C bus 0
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upm::GroveMD motors(GROVEMD_I2C_BUS, GROVEMD_DEFAULT_I2C_ADDR);
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2017-08-30 15:00:29 -07:00
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// This example demonstrates using the GroveMD to drive a stepper motor
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// configure it, for this example, we'll assume 200 steps per rev
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motors.configStepper(200);
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// set for half a rotation
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motors.setStepperSteps(100);
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// let it go - clockwise rotation, 10 RPM speed
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motors.enableStepper(upm::GroveMD::STEP_DIR_CW, 10);
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upm_delay(3);
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// Now do it backwards...
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motors.setStepperSteps(100);
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motors.enableStepper(upm::GroveMD::STEP_DIR_CCW, 10);
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// now disable
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motors.disableStepper();
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//! [Interesting]
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cout << "Exiting..." << endl;
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return 0;
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2015-09-16 17:33:23 -06:00
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}
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