1 /* 2 * Author: Stan Gifford <stan (at) gifford.id.au> 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 26 /** 27 * Description 28 * Demo program for Adafruit 16 channel servo shield/controller 29 * Physical setup for tests is a single servo attached to one channel. 30 * Note - when 3 or more GWS servos attached results unpredictable. 31 * Adafruit do recommend a Cap be installed on the board which should alleviate the issue. 32 * I (and Adafruit) are unable to give any Capacitor sizing data. 33 */ 34 35 #include <iostream> 36 #include "adafruitss.h" 37 #include <unistd.h> 38 39 using namespace std; 40 41 int main() { 42 43 int n; 44 45 //! [Interesting] 46 upm::adafruitss* servos = new upm::adafruitss(6,0x40); 47 48 for (;;) 49 { 50 cout << "Setting all to 0" << endl; 51 for (n = 0; n < 16; n++) 52 servos->servo(n, 1, 0); // GWS Mini Servo = Type 1. 53 usleep(1000000); // Wait 1 second 54 55 cout << "Setting all to 45" << endl; 56 for (n = 0; n < 16; n++) 57 servos->servo(n, 1, 45); 58 usleep(1000000); // Wait 1 second 59 60 cout << "Setting all to 90" << endl; 61 for (n = 0; n < 16; n++) 62 servos->servo(n, 1, 90); 63 usleep(1000000); // Wait 1 second 64 65 cout << "Setting all to 135" << endl; 66 for (n = 0; n < 16; n++) 67 servos->servo(n, 1, 135); 68 usleep(1000000); // Wait 1 second 69 70 cout << "Setting all to 180" << endl; 71 for (n = 0; n < 16; n++) 72 servos->servo(n, 1, 160); 73 usleep(2000000); // Wait 1 second 74 } 75 //! [Interesting] 76 return 0; 77 } 78
