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92 lines
2.5 KiB
JavaScript
92 lines
2.5 KiB
JavaScript
/*
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* Author: Zion Orent <zorent@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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var groveMotorDriver_lib = require('jsupm_grovemd');
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function start()
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{
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if (my_MotorDriver_obj)
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{
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// set direction to CW and set speed to 50%
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console.log("Spin M1 and M2 at half speed for 3 seconds");
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my_MotorDriver_obj.setMotorDirections(groveMotorDriver_lib.GroveMD.DIR_CW,
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groveMotorDriver_lib.GroveMD.DIR_CW);
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my_MotorDriver_obj.setMotorSpeeds(127, 127);
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}
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}
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function reverse()
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{
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if (my_MotorDriver_obj)
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{
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// counter clockwise
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console.log("Reversing M1 and M2 for 3 seconds");
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my_MotorDriver_obj.setMotorDirections(groveMotorDriver_lib.GroveMD.DIR_CCW,
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groveMotorDriver_lib.GroveMD.DIR_CCW);
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}
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}
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function end()
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{
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if (my_MotorDriver_obj)
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{
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console.log("Stopping motors");
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my_MotorDriver_obj.setMotorSpeeds(0, 0);
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}
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exit();
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}
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// When exiting: clear memory and print exit message
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function exit()
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{
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if (my_MotorDriver_obj)
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{
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my_MotorDriver_obj = null;
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groveMotorDriver_lib.cleanUp();
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}
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groveMotorDriver_lib = null;
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console.log("Exiting");
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process.exit(0);
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}
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// Instantiate an I2C Grove Motor Driver on I2C bus 0
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var my_MotorDriver_obj = new groveMotorDriver_lib.GroveMD(
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groveMotorDriver_lib.GROVEMD_I2C_BUS,
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groveMotorDriver_lib.GROVEMD_DEFAULT_I2C_ADDR);
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start();
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setTimeout(function()
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{
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reverse();
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setTimeout(end, 3000);
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}, 3000);
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process.on('SIGINT', function()
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{
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exit();
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});
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