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57 lines
1.2 KiB
C
57 lines
1.2 KiB
C
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2016 Intel Corporation.
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*
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* This program and the accompanying materials are made available under the
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* terms of the The MIT License which is available at
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* https://opensource.org/licenses/MIT.
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*
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* SPDX-License-Identifier: MIT
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*/
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#include <unistd.h>
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#include <stdio.h>
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#include <md.h>
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#include <upm_utilities.h>
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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 I2C Motor Driver on I2C bus 0
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md_context stepper = md_init(MD_I2C_BUS, MD_DEFAULT_I2C_ADDR);
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if (!stepper)
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{
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printf("md_init() failed\n");
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return 1;
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}
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// This example demonstrates using the MD to drive a stepper motor
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// configure it, for this example, we'll assume 200 steps per rev
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md_config_stepper(stepper, 200, MD_STEP_MODE1);
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// set for half a rotation
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md_set_stepper_steps(stepper, 100);
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// let it go - clockwise rotation, 10 RPM speed
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md_enable_stepper(stepper, MD_STEP_DIR_CW, 10);
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upm_delay(3);
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// Now do it backwards...
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md_set_stepper_steps(stepper, 100);
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md_enable_stepper(stepper, MD_STEP_DIR_CCW, 10);
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// now disable
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md_disable_stepper(stepper);
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printf("Exiting...\n");
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md_close(stepper);
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//! [Interesting]
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return 0;
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}
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