mirror of
https://github.com/eclipse/upm.git
synced 2025-03-15 13:07:40 +03:00
70 lines
2.1 KiB
C
70 lines
2.1 KiB
C
/*
|
|
* Author: Jon Trulson <jtrulson@ics.com>
|
|
* 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 <unistd.h>
|
|
#include <stdio.h>
|
|
|
|
#include <md.h>
|
|
#include <upm_utilities.h>
|
|
|
|
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;
|
|
}
|