2015-02-24 17:56:01 -08:00
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/*
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* Author: Stan Gifford <stan@gifford.id.au>
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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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/**
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* Description
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* Demo program for Adafruit 16 channel servo shield/controller
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* Physical setup for tests is a single servo attached to one channel.
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* Note - when 3 or more GWS servos attached results unpredictable.
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* Adafruit do recommend a Cap be installed on the board which should alleviate the issue.
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* I (and Adafruit) are unable to give any Capacitor sizing data.
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*/
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#include <iostream>
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2015-03-06 12:37:45 -08:00
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#include "adafruitss.h"
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2015-02-24 17:56:01 -08:00
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#include <unistd.h>
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using namespace std;
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int main() {
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int n;
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//! [Interesting]
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2015-03-06 12:37:45 -08:00
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upm::adafruitss* servos = new upm::adafruitss(6,0x40);
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2015-02-24 17:56:01 -08:00
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for (;;)
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{
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cout << "Setting all to 0" << endl;
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for (n = 0; n < 16; n++)
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servos->servo(n, 1, 0); // GWS Mini Servo = Type 1.
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usleep(1000000); // Wait 1 second
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cout << "Setting all to 45" << endl;
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for (n = 0; n < 16; n++)
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servos->servo(n, 1, 45);
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usleep(1000000); // Wait 1 second
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cout << "Setting all to 90" << endl;
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for (n = 0; n < 16; n++)
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servos->servo(n, 1, 90);
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usleep(1000000); // Wait 1 second
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cout << "Setting all to 135" << endl;
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for (n = 0; n < 16; n++)
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servos->servo(n, 1, 135);
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usleep(1000000); // Wait 1 second
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cout << "Setting all to 180" << endl;
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for (n = 0; n < 16; n++)
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servos->servo(n, 1, 160);
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usleep(2000000); // Wait 1 second
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}
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//! [Interesting]
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return 0;
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}
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