/* * Author: Jon Trulson * Copyright (c) 2016 Intel Corporation. * * This program and the accompanying materials are made available under the * terms of the The MIT License which is available at * https://opensource.org/licenses/MIT. * * SPDX-License-Identifier: MIT */ #include #include #include #include int main(int argc, char **argv) { //! [Interesting] // Instantiate an I2C Motor Driver on I2C bus 0 md_context stepper = md_init(MD_I2C_BUS, MD_DEFAULT_I2C_ADDR); if (!stepper) { printf("md_init() failed\n"); return 1; } // This example demonstrates using the MD to drive a stepper motor // configure it, for this example, we'll assume 200 steps per rev md_config_stepper(stepper, 200, MD_STEP_MODE1); // set for half a rotation md_set_stepper_steps(stepper, 100); // let it go - clockwise rotation, 10 RPM speed md_enable_stepper(stepper, MD_STEP_DIR_CW, 10); upm_delay(3); // Now do it backwards... md_set_stepper_steps(stepper, 100); md_enable_stepper(stepper, MD_STEP_DIR_CCW, 10); // now disable md_disable_stepper(stepper); printf("Exiting...\n"); md_close(stepper); //! [Interesting] return 0; }