1 /* 2 * Author: Jon Trulson <jtrulson (at) ics.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 <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 // set direction to CW and set speed to 50% 41 cout << "Spin M1 and M2 at half speed for 3 seconds" << endl; 42 motors->setMotorDirections(upm::GroveMD::DIR_CW, upm::GroveMD::DIR_CW); 43 motors->setMotorSpeeds(127, 127); 44 45 sleep(3); 46 // counter clockwise 47 cout << "Reversing M1 and M2 for 3 seconds" << endl; 48 motors->setMotorDirections(upm::GroveMD::DIR_CCW, upm::GroveMD::DIR_CCW); 49 sleep(3); 50 51 //! [Interesting] 52 53 cout << "Stopping motors" << endl; 54 motors->setMotorSpeeds(0, 0); 55 56 cout << "Exiting..." << endl; 57 58 delete motors; 59 return 0; 60 } 61
