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The library implements support for the Adafruit MotorShield 1438: http://www.adafruit.com/products/1438 This shield supports 4 DC motors or 2 Stepper motors. It makes use of the pca9685 UPM library, and therefore requires that PR #123 and PR #134 are merged first: PR 123: pkgconfig.in: allow a module to specify dependencies on another module PR 134: pca9685: Initial implementation Signed-off-by: Jon Trulson <jtrulson@ics.com> Signed-off-by: Zion Orent <zorent@ics.com> Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
76 lines
2.3 KiB
C++
76 lines
2.3 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2015 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <unistd.h>
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#include <signal.h>
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#include <iostream>
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#include "adafruitms1438.h"
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using namespace std;
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using namespace upm;
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int main(int argc, char **argv)
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{
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//! [Interesting]
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// Instantiate an Adafruit MS 1438 on I2C bus 0
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upm::AdafruitMS1438 *ms =
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new upm::AdafruitMS1438(ADAFRUITMS1438_I2C_BUS,
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ADAFRUITMS1438_DEFAULT_I2C_ADDR);
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// Setup for use with a DC motor connected to the M3 port
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// set a PWM period of 50Hz
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ms->setPWMPeriod(50);
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// disable first, to be safe
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ms->disableMotor(AdafruitMS1438::MOTOR_M3);
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// set speed at 50%
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ms->setMotorSpeed(AdafruitMS1438::MOTOR_M3, 50);
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ms->setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CW);
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cout << "Spin M3 at half speed for 3 seconds, then reverse for 3 seconds."
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<< endl;
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ms->enableMotor(AdafruitMS1438::MOTOR_M3);
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sleep(3);
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cout << "Reversing M3" << endl;
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ms->setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CCW);
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sleep(3);
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cout << "Stopping M3" << endl;
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ms->disableMotor(AdafruitMS1438::MOTOR_M3);
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cout << "Exiting" << endl;
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//! [Interesting]
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delete ms;
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return 0;
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}
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