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7e402ede34
Signed-off-by: Oussema Harbi <oussema.elharbi@gmail.com> Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
74 lines
2.7 KiB
C++
74 lines
2.7 KiB
C++
/*
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* The MIT License (MIT)
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*
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* Author: Oussema Harbi <oussema.elharbi@gmail.com>
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* Copyright (c) <2016> <Oussema Harbi>
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* 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, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION 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 <iostream>
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#include "smartdrive.h"
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#include <signal.h>
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upm::SmartDrive *drive = NULL;
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void
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sig_handler(int signo)
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{
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printf("got signal\n");
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if (signo == SIGINT) {
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printf("exiting application\n");
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if (drive != NULL)
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delete drive;
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exit (0);
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}
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}
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int
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main(int argc, char **argv)
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{
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float voltage = 0;
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cout << "SmartDrive demo is starting. Please make sure drive is connected to board" << endl;
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sleep(2); //Wait for 2 seconds in case you want to fix your h/w setup
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// Instantiate a SmartDrive connected to /dev/i2c-0 bus, using DefaultAddress
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drive = new upm::SmartDrive(0);
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cout << "Battery Voltage before motor run : " << drive.GetBattVoltage() << std::endl;
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//Set motor M1 to run for 300seconds, with speed of 15RPM, waith for it to finish and then Brake It
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drive->Run_Seconds(Motor_ID_M1, Dir_Forward, 15, 300, true, Action_Brake );
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std::cout << "Battery Voltage after motor run : " << drive.GetBattVoltage() << std::endl;
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//Rotate motor M2 2270 degrees, in reverse sens, with speed of 10RPM, return immediately from function call
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drive->Run_Degrees(Motor_ID_M2, Dir_Reverse, 10, 2270, false, Action_Float);
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//While motor is running, Display its status
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drive->PrintMotorStatus(Motor_ID_M2);
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sleep(2); //Sleep for 2 seconds
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//Stop motor M2 and then finish program
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drive->StopMotor(Motor_ID_M2, Action_BrakeHold );
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std::cout << "Demo complete. GoodBye" << std::endl;
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delete drive;
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drive = NULL;
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return 0;
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}
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