upm/examples/c/md.c

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/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2016 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 <unistd.h>
#include <stdio.h>
#include <md.h>
#include <upm_utilities.h>
int main(int argc, char **argv)
{
//! [Interesting]
// Instantiate an I2C Motor Driver on I2C bus 0
md_context motors = md_init(MD_I2C_BUS, MD_DEFAULT_I2C_ADDR);
if (!motors)
{
printf("md_init() failed\n");
return 1;
}
// set direction to CW and set speed to 50%
printf("Spin M1 and M2 at half speed for 3 seconds\n");
md_set_motor_directions(motors, MD_DIR_CW, MD_DIR_CW);
md_set_motor_speeds(motors, 127, 127);
upm_delay(3);
// counter clockwise
printf("Reversing M1 and M2 for 3 seconds\n");
md_set_motor_directions(motors, MD_DIR_CCW, MD_DIR_CCW);
upm_delay(3);
printf("Stopping motors\n");
md_set_motor_speeds(motors, 0, 0);
printf("Exiting...\n");
md_close(motors);
//! [Interesting]
return 0;
}