mirror of
https://github.com/eclipse/upm.git
synced 2025-03-15 04:57:30 +03:00
5cefe7f5f3
Cleanup of UPM C++ examples. Switched from heap allocation to
stack allocation when possible. This simplifies the samples since it
removes the need for explicit memory management. A script was used to
identify and replace pointer use. To simplify the replace script, I
re-formatted the C++ examples using the UPM .clang-format file.
Unfortuantely this changes the look of the UPM C++ examples to a large
degree. However, examples will now have a standard look/feel and
uniform formatting.
* Ran clang-format w/provided UPM .clang-format file
* Removed new's/delete's whenever possible (left those in interface
examples)
* Added IIO sensor library implementation of callback void* arg
* Converted all sleeps to upm defined delays (added header when
necessary)
* Scrubbed CXX example includes
Signed-off-by: Noel Eck <noel.eck@intel.com>
81 lines
2.8 KiB
C++
81 lines
2.8 KiB
C++
/*
|
|
* The MIT License (MIT)
|
|
*
|
|
* Author: Oussema Harbi <oussema.elharbi@gmail.com>
|
|
* Copyright (c) <2016> <Oussema Harbi>
|
|
*
|
|
* 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 <iostream>
|
|
#include <signal.h>
|
|
#include <stdio.h>
|
|
|
|
#include "smartdrive.hpp"
|
|
#include "upm_utilities.h"
|
|
|
|
void
|
|
sig_handler(int signo)
|
|
{
|
|
printf("got signal\n");
|
|
if (signo == SIGINT) {
|
|
printf("exiting application\n");
|
|
}
|
|
}
|
|
|
|
int
|
|
main(int argc, char** argv)
|
|
{
|
|
std::cout << "SmartDrive demo is starting. Please make sure drive is "
|
|
"connected to board"
|
|
<< std::endl;
|
|
upm_delay(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
|
|
upm::SmartDrive drive(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);
|
|
upm_delay(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;
|
|
|
|
return 0;
|
|
}
|