2015-01-23 16:30:22 -07:00
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2014 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 <unistd.h>
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#include <signal.h>
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#include <iostream>
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2016-04-25 14:27:51 -07:00
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#include "grovemd.hpp"
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2015-01-23 16:30:22 -07:00
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using namespace std;
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int main(int argc, char **argv)
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{
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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 = new upm::GroveMD(GROVEMD_I2C_BUS,
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GROVEMD_DEFAULT_I2C_ADDR);
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// set direction to CW and set speed to 50%
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cout << "Spin M1 and M2 at half speed for 3 seconds" << endl;
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2015-03-18 12:20:19 -06:00
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motors->setMotorDirections(upm::GroveMD::DIR_CW, upm::GroveMD::DIR_CW);
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2015-01-23 16:30:22 -07:00
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motors->setMotorSpeeds(127, 127);
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sleep(3);
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// counter clockwise
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cout << "Reversing M1 and M2 for 3 seconds" << endl;
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2015-03-18 12:20:19 -06:00
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motors->setMotorDirections(upm::GroveMD::DIR_CCW, upm::GroveMD::DIR_CCW);
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2015-01-23 16:30:22 -07:00
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sleep(3);
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//! [Interesting]
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cout << "Stopping motors" << endl;
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motors->setMotorSpeeds(0, 0);
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cout << "Exiting..." << endl;
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delete motors;
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return 0;
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}
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