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65 lines
1.7 KiB
C++
65 lines
1.7 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2015 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 <iostream>
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#include "adafruitms1438.hpp"
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#include "upm_utilities.h"
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using namespace std;
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using namespace upm;
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int
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main(int argc, char** argv)
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{
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//! [Interesting]
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// Instantiate an Adafruit MS 1438 on I2C bus 0
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upm::AdafruitMS1438 ms(ADAFRUITMS1438_I2C_BUS, ADAFRUITMS1438_DEFAULT_I2C_ADDR);
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// Setup for use with a stepper motor connected to the M1 & M2 ports
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// set a PWM period of 50Hz
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// disable first, to be safe
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ms.disableStepper(AdafruitMS1438::STEPMOTOR_M12);
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// configure for a NEMA-17, 200 steps per revolution
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ms.stepConfig(AdafruitMS1438::STEPMOTOR_M12, 200);
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// set speed at 10 RPM's
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ms.setStepperSpeed(AdafruitMS1438::STEPMOTOR_M12, 10);
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ms.setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, AdafruitMS1438::DIR_CW);
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// enable
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cout << "Enabling..." << endl;
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ms.enableStepper(AdafruitMS1438::STEPMOTOR_M12);
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cout << "Rotating 1 full revolution at 10 RPM speed." << endl;
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ms.stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 200);
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cout << "Sleeping for 2 seconds..." << endl;
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upm_delay(2);
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cout << "Rotating 1/2 revolution in opposite direction at 10 RPM speed." << endl;
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ms.setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, AdafruitMS1438::DIR_CCW);
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ms.stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 100);
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cout << "Disabling..." << endl;
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ms.disableStepper(AdafruitMS1438::STEPMOTOR_M12);
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cout << "Exiting" << endl;
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//! [Interesting]
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return 0;
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}
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