1 /* 2 * Author: Jon Trulson <jtrulson (at) ics.com> 3 * Copyright (c) 2015 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 <signal.h> 27 #include <iostream> 28 #include "grovemd.h" 29 30 using namespace std; 31 32 int main(int argc, char **argv) 33 { 34 //! [Interesting] 35 // Instantiate an I2C Grove Motor Driver on I2C bus 0 36 37 upm::GroveMD *motors = new upm::GroveMD(GROVEMD_I2C_BUS, 38 GROVEMD_DEFAULT_I2C_ADDR); 39 40 // This example demonstrates using the GroveMD to drive a stepper motor 41 42 // configure it, for this example, we'll assume 200 steps per rev 43 motors->configStepper(200); 44 45 // set for half a rotation 46 motors->setStepperSteps(100); 47 48 // let it go - clockwise rotation, 10 RPM speed 49 motors->enableStepper(upm::GroveMD::STEP_DIR_CW, 10); 50 51 sleep(3); 52 53 // Now do it backwards... 54 motors->setStepperSteps(100); 55 motors->enableStepper(upm::GroveMD::STEP_DIR_CCW, 10); 56 57 // now disable 58 motors->disableStepper(); 59 60 //! [Interesting] 61 62 cout << "Exiting..." << endl; 63 64 delete motors; 65 return 0; 66 } 67
