/* * 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 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; }