/* * Author: Jon Trulson * Copyright (c) 2015 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 #include "adafruitms1438.hpp" #include "upm_utilities.h" using namespace std; using namespace upm; int main(int argc, char** argv) { //! [Interesting] // Instantiate an Adafruit MS 1438 on I2C bus 0 upm::AdafruitMS1438 ms(ADAFRUITMS1438_I2C_BUS, ADAFRUITMS1438_DEFAULT_I2C_ADDR); // Setup for use with a DC motor connected to the M3 port // set a PWM period of 50Hz ms.setPWMPeriod(50); // disable first, to be safe ms.disableMotor(AdafruitMS1438::MOTOR_M3); // set speed at 50% ms.setMotorSpeed(AdafruitMS1438::MOTOR_M3, 50); ms.setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CW); cout << "Spin M3 at half speed for 3 seconds, then reverse for 3 seconds." << endl; ms.enableMotor(AdafruitMS1438::MOTOR_M3); upm_delay(3); cout << "Reversing M3" << endl; ms.setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CCW); upm_delay(3); cout << "Stopping M3" << endl; ms.disableMotor(AdafruitMS1438::MOTOR_M3); cout << "Exiting" << endl; //! [Interesting] return 0; }