mirror of
https://github.com/eclipse/upm.git
synced 2025-03-15 13:07:40 +03:00
65 lines
1.7 KiB
C++
65 lines
1.7 KiB
C++
/*
|
|
* Author: Jon Trulson <jtrulson@ics.com>
|
|
* Copyright (c) 2015 Intel Corporation.
|
|
*
|
|
* This program and the accompanying materials are made available under the
|
|
* terms of the The MIT License which is available at
|
|
* https://opensource.org/licenses/MIT.
|
|
*
|
|
* SPDX-License-Identifier: MIT
|
|
*/
|
|
|
|
#include <iostream>
|
|
|
|
#include "adafruitms1438.hpp"
|
|
#include "upm_utilities.h"
|
|
|
|
using namespace std;
|
|
using namespace upm;
|
|
|
|
int
|
|
main(int argc, char** argv)
|
|
{
|
|
//! [Interesting]
|
|
// Instantiate an Adafruit MS 1438 on I2C bus 0
|
|
|
|
upm::AdafruitMS1438 ms(ADAFRUITMS1438_I2C_BUS, ADAFRUITMS1438_DEFAULT_I2C_ADDR);
|
|
|
|
// Setup for use with a stepper motor connected to the M1 & M2 ports
|
|
|
|
// set a PWM period of 50Hz
|
|
|
|
// disable first, to be safe
|
|
ms.disableStepper(AdafruitMS1438::STEPMOTOR_M12);
|
|
|
|
// configure for a NEMA-17, 200 steps per revolution
|
|
ms.stepConfig(AdafruitMS1438::STEPMOTOR_M12, 200);
|
|
|
|
// set speed at 10 RPM's
|
|
ms.setStepperSpeed(AdafruitMS1438::STEPMOTOR_M12, 10);
|
|
ms.setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, AdafruitMS1438::DIR_CW);
|
|
|
|
// enable
|
|
cout << "Enabling..." << endl;
|
|
ms.enableStepper(AdafruitMS1438::STEPMOTOR_M12);
|
|
|
|
cout << "Rotating 1 full revolution at 10 RPM speed." << endl;
|
|
ms.stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 200);
|
|
|
|
cout << "Sleeping for 2 seconds..." << endl;
|
|
upm_delay(2);
|
|
cout << "Rotating 1/2 revolution in opposite direction at 10 RPM speed." << endl;
|
|
|
|
ms.setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, AdafruitMS1438::DIR_CCW);
|
|
ms.stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 100);
|
|
|
|
cout << "Disabling..." << endl;
|
|
ms.disableStepper(AdafruitMS1438::STEPMOTOR_M12);
|
|
|
|
cout << "Exiting" << endl;
|
|
|
|
//! [Interesting]
|
|
|
|
return 0;
|
|
}
|