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      1 /*jslint node:true, vars:true, bitwise:true, unparam:true */
      2 /*jshint unused:true */
      3 /*
      4 * Author: Zion Orent <zorent (at) ics.com>
      5 * Copyright (c) 2015 Intel Corporation.
      6 *
      7 * Permission is hereby granted, free of charge, to any person obtaining
      8 * a copy of this software and associated documentation files (the
      9 * "Software"), to deal in the Software without restriction, including
     10 * without limitation the rights to use, copy, modify, merge, publish,
     11 * distribute, sublicense, and/or sell copies of the Software, and to
     12 * permit persons to whom the Software is furnished to do so, subject to
     13 * the following conditions:
     14 *
     15 * The above copyright notice and this permission notice shall be
     16 * included in all copies or substantial portions of the Software.
     17 *
     18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
     19 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
     20 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
     21 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
     22 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
     23 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
     24 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
     25 */
     26 
     27 function exit()
     28 {
     29 	console.log("Exiting");
     30 
     31 	myMotorShield_obj = null;
     32 	if (MotorShield_lib)
     33 	{
     34 		MotorShield_lib.cleanUp();
     35 		MotorShield_lib = null;
     36 	}
     37 	process.exit(0);
     38 }
     39 
     40 var MotorShield_lib = require('jsupm_adafruitms1438');
     41 
     42 
     43 /* Import header values */
     44 var I2CBus = MotorShield_lib.ADAFRUITMS1438_I2C_BUS;
     45 var I2CAddr = MotorShield_lib.ADAFRUITMS1438_DEFAULT_I2C_ADDR;
     46 
     47 var M3motor = MotorShield_lib.AdafruitMS1438.MOTOR_M3;
     48 var MotorDirCW = MotorShield_lib.AdafruitMS1438.DIR_CW;
     49 var MotorDirCCW = MotorShield_lib.AdafruitMS1438.DIR_CCW;
     50 
     51 
     52 // Instantiate an Adafruit MS 1438 on I2C bus 0
     53 var myMotorShield_obj = new MotorShield_lib.AdafruitMS1438(I2CBus, I2CAddr);
     54 
     55 
     56 // Setup for use with a DC motor connected to the M3 port
     57 
     58 // set a PWM period of 50Hz
     59 myMotorShield_obj.setPWMPeriod(50);
     60 
     61 // disable first, to be safe
     62 myMotorShield_obj.disableMotor(M3motor);
     63 
     64 // set speed at 50%
     65 myMotorShield_obj.setMotorSpeed(M3motor, 50);
     66 myMotorShield_obj.setMotorDirection(M3motor, MotorDirCW);
     67 
     68 process.stdout.write("Spin M3 at half speed for 3 seconds, ");
     69 console.log("then reverse for 3 seconds.");
     70 myMotorShield_obj.enableMotor(M3motor);
     71 
     72 setTimeout(function()
     73 {
     74 	console.log("Reversing M3");
     75 	myMotorShield_obj.setMotorDirection(M3motor, MotorDirCCW);
     76 }, 3000);
     77 
     78 
     79 setTimeout(function()
     80 {
     81 	console.log("Stopping M3");
     82 	myMotorShield_obj.disableMotor(M3motor);
     83 	exit();
     84 }, 6000);
     85 
     86 process.on('SIGINT', function()
     87 {
     88 	exit();
     89 });
     90