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smartdrive: patch example

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Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
This commit is contained in:
Mihai Tudor Panu 2016-03-23 18:53:29 -07:00
parent de1a46aa59
commit e5385eb510
1 changed files with 9 additions and 9 deletions
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18
examples/c++/smartdrive.cxx
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@ -46,23 +46,23 @@ main(int argc, char **argv)
{ {
float voltage = 0; float voltage = 0;
cout << "SmartDrive demo is starting. Please make sure drive is connected to board" << endl; std::cout << "SmartDrive demo is starting. Please make sure drive is connected to board" << std::endl;
sleep(2); //Wait for 2 seconds in case you want to fix your h/w setup 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 // Instantiate a SmartDrive connected to /dev/i2c-0 bus, using DefaultAddress
drive = new upm::SmartDrive(0); drive = new upm::SmartDrive(0);
cout << "Battery Voltage before motor run : " << drive.GetBattVoltage() << std::endl; std::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 //Set motor M1 to run for 120 seconds, 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 ); 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; 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 //Rotate motor M2 2270 degrees, in reverse sense, with speed of 10RPM, return immediately from function call
drive->Run_Degrees(Motor_ID_M2, Dir_Reverse, 10, 2270, false, Action_Float); drive->Run_Degrees(SmartDrive_Motor_ID_2, SmartDrive_Dir_Reverse, 10, 2270, false, SmartDrive_Action_Float);
//While motor is running, Display its status //While motor is running, Display its status
drive->PrintMotorStatus(Motor_ID_M2); drive->PrintMotorStatus(SmartDrive_Motor_ID_2);
sleep(2); //Sleep for 2 seconds sleep(2); //Sleep for 2 seconds
//Stop motor M2 and then finish program //Stop motor M2 and then finish program
drive->StopMotor(Motor_ID_M2, Action_BrakeHold ); drive->StopMotor(SmartDrive_Motor_ID_2, SmartDrive_Action_BrakeHold);
std::cout << "Demo complete. GoodBye" << std::endl; std::cout << "Demo complete. GoodBye" << std::endl;