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63 lines
1.9 KiB
C++
63 lines
1.9 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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* 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 <iostream>
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#include <signal.h>
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#include <stdio.h>
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#include "smartdrive.hpp"
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#include "upm_utilities.h"
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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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}
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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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std::cout << "SmartDrive demo is starting. Please make sure drive is "
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"connected to board"
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<< std::endl;
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upm_delay(2); // Wait for 2 seconds in case you want to fix your h/w setup
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//! [Interesting]
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// Instantiate a SmartDrive connected to /dev/i2c-0 bus, using DefaultAddress
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upm::SmartDrive drive(0);
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std::cout << "Battery Voltage before motor run : " << drive.GetBattVoltage() << std::endl;
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// Set motor M1 to run for 120 seconds, with speed of 15RPM, waith for it to
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// finish and then Brake It
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drive.Run_Seconds(
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SmartDrive_Motor_ID_1, SmartDrive_Dir_Forward, 15, 120, true, SmartDrive_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 sense, with speed of 10RPM, return
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// immediately from function call
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drive.Run_Degrees(
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SmartDrive_Motor_ID_2, SmartDrive_Dir_Reverse, 10, 2270, false, SmartDrive_Action_Float);
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// While motor is running, Display its status
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drive.PrintMotorStatus(SmartDrive_Motor_ID_2);
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upm_delay(2); // Sleep for 2 seconds
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// Stop motor M2 and then finish program
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drive.StopMotor(SmartDrive_Motor_ID_2, SmartDrive_Action_BrakeHold);
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//! [Interesting]
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std::cout << "Demo complete. GoodBye" << std::endl;
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return 0;
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}
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