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      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 <string.h>
     26 #include <unistd.h>
     27 #include <iostream>
     28 #include "stepmotor.h"
     29 #include <signal.h>
     30 
     31 int doWork = 0;
     32 upm::StepMotor *sensor = NULL;
     33 
     34 void
     35 sig_handler(int signo)
     36 {
     37     printf("got signal\n");
     38     if (signo == SIGINT) {
     39         printf("exiting application\n");
     40         doWork = 1;
     41     }
     42 }
     43 
     44 int
     45 main(int argc, char **argv)
     46 {
     47 //! [Interesting]
     48     sensor = new upm::StepMotor(4, 6);
     49 
     50     while (!doWork) {
     51         sensor->setSpeed (500);
     52         sensor->stepForward (500);
     53         usleep (10000);
     54         sensor->stepBackwards (500);
     55         usleep (10000);
     56 
     57         sensor->setSpeed (750);
     58         sensor->stepForward (500);
     59         usleep (10000);
     60         sensor->stepBackwards (500);
     61         usleep (10000);
     62 
     63         sensor->setSpeed (1000);
     64         sensor->stepForward (500);
     65         usleep (10000);
     66         sensor->stepBackwards (500);
     67         usleep (10000);
     68     }
     69 
     70     delete sensor;
     71 //! [Interesting]
     72     return 0;
     73 }
     74