/* * Authors: Yevgeniy Kiveisha * Mihai Tudor Panu * Copyright (c) 2014 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 #include #include "stepmotor.hpp" #include "upm_utilities.h" using namespace std; int doWork = 1; void sig_handler(int signo) { printf("got signal\n"); if (signo == SIGINT) { printf("exiting application\n"); doWork = 0; } } int main(int argc, char** argv) { //! [Interesting] upm::StepMotor sensor(2, 3); while (doWork) { cout << "1 Revolution forward and back at 60 rpm" << endl; sensor.setSpeed(60); sensor.stepForward(200); upm_delay_us(1000000); sensor.stepBackward(200); upm_delay_us(1000000); cout << "1 Revolution forward and back at 150 rpm" << endl; sensor.setSpeed(150); sensor.stepForward(200); upm_delay_us(1000000); sensor.stepBackward(200); upm_delay_us(1000000); cout << "1 Revolution forward and back at 300 rpm" << endl; sensor.setSpeed(300); sensor.stepForward(200); upm_delay_us(1000000); sensor.stepBackward(200); upm_delay_us(1000000); } //! [Interesting] return 0; }