upm/examples/c++/smartdrive.cxx

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/*
* The MIT License (MIT)
*
* Author: Oussema Harbi <oussema.elharbi@gmail.com>
* Copyright (c) <2016> <Oussema Harbi>
*
* 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>
#include <signal.h>
#include <stdio.h>
#include "smartdrive.hpp"
#include "upm_utilities.h"
void
sig_handler(int signo)
{
printf("got signal\n");
if (signo == SIGINT) {
printf("exiting application\n");
}
}
int
main(int argc, char** argv)
{
std::cout << "SmartDrive demo is starting. Please make sure drive is "
"connected to board"
<< std::endl;
upm_delay(2); // Wait for 2 seconds in case you want to fix your h/w setup
//! [Interesting]
// Instantiate a SmartDrive connected to /dev/i2c-0 bus, using DefaultAddress
upm::SmartDrive drive(0);
std::cout << "Battery Voltage before motor run : " << drive.GetBattVoltage() << std::endl;
// Set motor M1 to run for 120 seconds, with speed of 15RPM, waith for it to
// finish and then Brake It
drive.Run_Seconds(
SmartDrive_Motor_ID_1, SmartDrive_Dir_Forward, 15, 120, true, SmartDrive_Action_Brake);
std::cout << "Battery Voltage after motor run : " << drive.GetBattVoltage() << std::endl;
// Rotate motor M2 2270 degrees, in reverse sense, with speed of 10RPM, return
// immediately from function call
drive.Run_Degrees(
SmartDrive_Motor_ID_2, SmartDrive_Dir_Reverse, 10, 2270, false, SmartDrive_Action_Float);
// While motor is running, Display its status
drive.PrintMotorStatus(SmartDrive_Motor_ID_2);
upm_delay(2); // Sleep for 2 seconds
// Stop motor M2 and then finish program
drive.StopMotor(SmartDrive_Motor_ID_2, SmartDrive_Action_BrakeHold);
//! [Interesting]
std::cout << "Demo complete. GoodBye" << std::endl;
return 0;
}