1 /* 2 * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha (at) intel.com> 3 * Copyright (c) 2014 Intel Corporation. 4 * 5 * Permission is hereby granted, free of charge, to any person obtaining 6 * a copy of this software and associated documentation files (the 7 * "Software"), to deal in the Software without restriction, including 8 * without limitation the rights to use, copy, modify, merge, publish, 9 * distribute, sublicense, and/or sell copies of the Software, and to 10 * permit persons to whom the Software is furnished to do so, subject to 11 * the following conditions: 12 * 13 * The above copyright notice and this permission notice shall be 14 * included in all copies or substantial portions of the Software. 15 * 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE 20 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 21 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 22 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 23 */ 24 25 #include <unistd.h> 26 #include <iostream> 27 #include "es08a.h" 28 #include <signal.h> 29 #include <stdlib.h> 30 31 int 32 main(int argc, char **argv) 33 { 34 //! [Interesting] 35 upm::ES08A *servo = new upm::ES08A(5); 36 37 // Sets the shaft to 180, then to 90, then to 0, 38 // then back to 90, and finally back to 180, 39 // pausing for a second in between each angle 40 servo->setAngle (180); 41 std::cout << "Set angle to 180" << std::endl; 42 sleep(1); 43 servo->setAngle (90); 44 std::cout << "Set angle to 90" << std::endl; 45 sleep(1); 46 servo->setAngle (0); 47 std::cout << "Set angle to 0" << std::endl; 48 sleep(1); 49 servo->setAngle (90); 50 std::cout << "Set angle to 90" << std::endl; 51 sleep(1); 52 servo->setAngle (180); 53 std::cout << "Set angle to 180" << std::endl; 54 //! [Interesting] 55 56 std::cout << "exiting application" << std::endl; 57 58 delete servo; 59 60 return 0; 61 } 62
