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smartdrive: upm implementation for SmartDrive from openelectronics.com

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Signed-off-by: Oussema Harbi <oussema.elharbi@gmail.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
This commit is contained in:
Oussema Harbi
2016-03-16 21:24:11 +01:00
committed by Mihai Tudor Panu
parent 4381f8bd2e
commit 7e402ede34
7 changed files with 836 additions and 0 deletions
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examples/c++/smartdrive.cxx Normal file
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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 <unistd.h>
#include <iostream>
#include "smartdrive.h"
#include <signal.h>
upm::SmartDrive *drive = NULL;
void
sig_handler(int signo)
{
printf("got signal\n");
if (signo == SIGINT) {
printf("exiting application\n");
if (drive != NULL)
delete drive;
exit (0);
}
}
int
main(int argc, char **argv)
{
float voltage = 0;
cout << "SmartDrive demo is starting. Please make sure drive is connected to board" << endl;
sleep(2); //Wait for 2 seconds in case you want to fix your h/w setup
// Instantiate a SmartDrive connected to /dev/i2c-0 bus, using DefaultAddress
drive = new upm::SmartDrive(0);
cout << "Battery Voltage before motor run : " << drive.GetBattVoltage() << std::endl;
//Set motor M1 to run for 300seconds, with speed of 15RPM, waith for it to finish and then Brake It
drive->Run_Seconds(Motor_ID_M1, Dir_Forward, 15, 300, true, Action_Brake );
std::cout << "Battery Voltage after motor run : " << drive.GetBattVoltage() << std::endl;
//Rotate motor M2 2270 degrees, in reverse sens, with speed of 10RPM, return immediately from function call
drive->Run_Degrees(Motor_ID_M2, Dir_Reverse, 10, 2270, false, Action_Float);
//While motor is running, Display its status
drive->PrintMotorStatus(Motor_ID_M2);
sleep(2); //Sleep for 2 seconds
//Stop motor M2 and then finish program
drive->StopMotor(Motor_ID_M2, Action_BrakeHold );
std::cout << "Demo complete. GoodBye" << std::endl;
delete drive;
drive = NULL;
return 0;
}