/* * 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 "smartdrive.hpp" #include upm::SmartDrive *drive = NULL; void sig_handler(int signo) { printf("got signal\n"); if (signo == SIGINT) { printf("exiting application\n"); if (drive != NULL) delete drive; exit (0); } } int main(int argc, char **argv) { 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 //! [Interesting] // Instantiate a SmartDrive connected to /dev/i2c-0 bus, using DefaultAddress drive = new upm::SmartDrive(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); sleep(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; delete drive; drive = NULL; return 0; }