/* * Author: Jon Trulson * Copyright (c) 2016 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 int main(int argc, char **argv) { //! [Interesting] // Instantiate an I2C Motor Driver on I2C bus 0 md_context motors = md_init(MD_I2C_BUS, MD_DEFAULT_I2C_ADDR); if (!motors) { printf("md_init() failed\n"); return 1; } // set direction to CW and set speed to 50% printf("Spin M1 and M2 at half speed for 3 seconds\n"); md_set_motor_directions(motors, MD_DIR_CW, MD_DIR_CW); md_set_motor_speeds(motors, 127, 127); upm_delay(3); // counter clockwise printf("Reversing M1 and M2 for 3 seconds\n"); md_set_motor_directions(motors, MD_DIR_CCW, MD_DIR_CCW); upm_delay(3); printf("Stopping motors\n"); md_set_motor_speeds(motors, 0, 0); printf("Exiting...\n"); md_close(motors); //! [Interesting] return 0; }