1 /* 2 * Author: Stefan Andritoiu <stefan.andritoiu (at) intel.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 public class GroveMDSample { 26 private static final short speed50 = 127; 27 private static final short speed0 = 0; 28 29 static { 30 try { 31 System.loadLibrary("javaupm_grovemd"); 32 } catch (UnsatisfiedLinkError e) { 33 System.err.println("error in loading native library"); 34 System.exit(-1); 35 } 36 } 37 38 public static void main(String[] args) throws InterruptedException { 39 // ! [Interesting] 40 // Instantiate an I2C Grove Motor Driver on I2C bus 0 41 upm_grovemd.GroveMD motors = new upm_grovemd.GroveMD(); 42 43 // set direction to clockwise (CW) and set speed to 50% 44 System.out.println("Spin M1 and M2 at half speed for 3 seconds"); 45 motors.setMotorDirections(upm_grovemd.GroveMD.DC_DIRECTION_T.DIR_CW, 46 upm_grovemd.GroveMD.DC_DIRECTION_T.DIR_CW); 47 motors.setMotorSpeeds(speed50, speed50); 48 Thread.sleep(3000); 49 50 // counter clockwise (CCW) 51 System.out.println("Reversing M1 and M2 for 3 seconds"); 52 motors.setMotorDirections(upm_grovemd.GroveMD.DC_DIRECTION_T.DIR_CCW, 53 upm_grovemd.GroveMD.DC_DIRECTION_T.DIR_CCW); 54 Thread.sleep(3000); 55 56 // stop motors 57 System.out.println("Stopping motors"); 58 motors.setMotorSpeeds(speed0, speed0); 59 // ! [Interesting] 60 } 61 62 }
