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md: C implementation; C++ wraps C

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Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson
2016-10-18 17:02:33 -06:00
parent df5b3805c5
commit 8ac8be9e0a
16 changed files with 813 additions and 397 deletions
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9
examples/c++/md-stepper.cxx
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@ -1,6 +1,6 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
* Copyright (c) 2015-2016 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
@ -34,8 +34,7 @@ int main(int argc, char **argv)
//! [Interesting]
// Instantiate an I2C Motor Driver on I2C bus 0
upm::MD *motors = new upm::MD(MD_I2C_BUS,
MD_DEFAULT_I2C_ADDR);
upm::MD *motors = new upm::MD(MD_I2C_BUS, MD_DEFAULT_I2C_ADDR);
// This example demonstrates using the MD to drive a stepper motor
@ -46,13 +45,13 @@ int main(int argc, char **argv)
motors->setStepperSteps(100);
// let it go - clockwise rotation, 10 RPM speed
motors->enableStepper(upm::MD::STEP_DIR_CW, 10);
motors->enableStepper(MD_STEP_DIR_CW, 10);
sleep(3);
// Now do it backwards...
motors->setStepperSteps(100);
motors->enableStepper(upm::MD::STEP_DIR_CCW, 10);
motors->enableStepper(MD_STEP_DIR_CCW, 10);
// now disable
motors->disableStepper();

9
examples/c++/md.cxx
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@ -1,6 +1,6 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2014 Intel Corporation.
* Copyright (c) 2014-2016 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
@ -34,18 +34,17 @@ int main(int argc, char **argv)
//! [Interesting]
// Instantiate an I2C Motor Driver on I2C bus 0
upm::MD *motors = new upm::MD(MD_I2C_BUS,
MD_DEFAULT_I2C_ADDR);
upm::MD *motors = new upm::MD(MD_I2C_BUS, MD_DEFAULT_I2C_ADDR);
// set direction to CW and set speed to 50%
cout << "Spin M1 and M2 at half speed for 3 seconds" << endl;
motors->setMotorDirections(upm::MD::DIR_CW, upm::MD::DIR_CW);
motors->setMotorDirections(MD_DIR_CW, MD_DIR_CW);
motors->setMotorSpeeds(127, 127);
sleep(3);
// counter clockwise
cout << "Reversing M1 and M2 for 3 seconds" << endl;
motors->setMotorDirections(upm::MD::DIR_CCW, upm::MD::DIR_CCW);
motors->setMotorDirections(MD_DIR_CCW, MD_DIR_CCW);
sleep(3);
//! [Interesting]

2
examples/c/CMakeLists.txt
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@ -127,9 +127,11 @@ add_example (jhd1313m1)
add_example (lm35)
add_example (rotaryencoder)
add_example (rpr220)
add_example (md)
# Custom examples
add_custom_example (nmea_gps_i2c-example-c nmea_gps_i2c.c nmea_gps)
add_custom_example (lcm1602-i2c-example-c lcm1602-i2c.c lcm1602)
add_custom_example (lcm1602-parallel-example-c lcm1602-parallel.c lcm1602)
add_custom_example (rpr220-intr-example-c rpr220-intr.c rpr220)
add_custom_example (md-stepper-example-c md-stepper.c md)

69
examples/c/md-stepper.c Normal file
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@ -0,0 +1,69 @@
/*
* 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 stepper = md_init(MD_I2C_BUS, MD_DEFAULT_I2C_ADDR);
if (!stepper)
{
printf("md_init() failed\n");
return 1;
}
// This example demonstrates using the MD to drive a stepper motor
// configure it, for this example, we'll assume 200 steps per rev
md_config_stepper(stepper, 200, MD_STEP_MODE1);
// set for half a rotation
md_set_stepper_steps(stepper, 100);
// let it go - clockwise rotation, 10 RPM speed
md_enable_stepper(stepper, MD_STEP_DIR_CW, 10);
upm_delay(3);
// Now do it backwards...
md_set_stepper_steps(stepper, 100);
md_enable_stepper(stepper, MD_STEP_DIR_CCW, 10);
// now disable
md_disable_stepper(stepper);
printf("Exiting...\n");
md_close(stepper);
//! [Interesting]
return 0;
}

64
examples/c/md.c Normal file
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@ -0,0 +1,64 @@
/*
* 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;
}

8
examples/java/MDSample.java
View File

@ -33,15 +33,15 @@ public class MDSample {
// set direction to clockwise (CW) and set speed to 50%
System.out.println("Spin M1 and M2 at half speed for 3 seconds");
motors.setMotorDirections(upm_md.MD.DC_DIRECTION_T.DIR_CW,
upm_md.MD.DC_DIRECTION_T.DIR_CW);
motors.setMotorDirections(upm_md.MD_DC_DIRECTION_T.MD_DIR_CW,
upm_md.MD_DC_DIRECTION_T.MD_DIR_CW);
motors.setMotorSpeeds(speed50, speed50);
Thread.sleep(3000);
// counter clockwise (CCW)
System.out.println("Reversing M1 and M2 for 3 seconds");
motors.setMotorDirections(upm_md.MD.DC_DIRECTION_T.DIR_CCW,
upm_md.MD.DC_DIRECTION_T.DIR_CCW);
motors.setMotorDirections(upm_md.MD_DC_DIRECTION_T.MD_DIR_CCW,
upm_md.MD_DC_DIRECTION_T.MD_DIR_CCW);
Thread.sleep(3000);
// stop motors

4
examples/python/md-stepper.py
View File

@ -40,13 +40,13 @@ def main():
myMotorDriver.setStepperSteps(100)
# let it go - clockwise rotation, 10 RPM speed
myMotorDriver.enableStepper(upmmd.MD.STEP_DIR_CW, 10)
myMotorDriver.enableStepper(upmmd.MD_STEP_DIR_CW, 10)
time.sleep(3)
# Now do it backwards...
myMotorDriver.setStepperSteps(100)
myMotorDriver.enableStepper(upmmd.MD.STEP_DIR_CCW, 10)
myMotorDriver.enableStepper(upmmd.MD_STEP_DIR_CCW, 10)
# now disable
myMotorDriver.disableStepper()

6
examples/python/md.py
View File

@ -34,14 +34,14 @@ def main():
# set direction to CW and set speed to 50%
print("Spin M1 and M2 at half speed for 3 seconds")
myMotorDriver.setMotorDirections(upmmd.MD.DIR_CW, upmmd.MD.DIR_CW)
myMotorDriver.setMotorDirections(upmmd.MD_DIR_CW, upmmd.MD_DIR_CW)
myMotorDriver.setMotorSpeeds(127, 127)
time.sleep(3)
# counter clockwise
print("Reversing M1 and M2 for 3 seconds")
myMotorDriver.setMotorDirections(upmmd.MD.DIR_CCW,
upmmd.MD.DIR_CCW)
myMotorDriver.setMotorDirections(upmmd.MD_DIR_CCW,
upmmd.MD_DIR_CCW)
time.sleep(3)
print("Stopping motors")