/* * The MIT License (MIT) * * Author: Oussema Harbi * Copyright (c) <2016> * * 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 #include #include #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; }