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      1 /*jslint node:true, vars:true, bitwise:true, unparam:true */
      2 /*jshint unused:true */
      3 
      4 /*
      5 * Author: Zion Orent <zorent (at) ics.com>
      6 * Copyright (c) 2015 Intel Corporation.
      7 *
      8 * Permission is hereby granted, free of charge, to any person obtaining
      9 * a copy of this software and associated documentation files (the
     10 * "Software"), to deal in the Software without restriction, including
     11 * without limitation the rights to use, copy, modify, merge, publish,
     12 * distribute, sublicense, and/or sell copies of the Software, and to
     13 * permit persons to whom the Software is furnished to do so, subject to
     14 * the following conditions:
     15 *
     16 * The above copyright notice and this permission notice shall be
     17 * included in all copies or substantial portions of the Software.
     18 *
     19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
     20 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
     21 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
     22 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
     23 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
     24 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
     25 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
     26 */
     27 
     28 var groveMotorDriver_lib = require('jsupm_grovemd');
     29 
     30 function start()
     31 {
     32 	if (my_MotorDriver_obj)
     33 	{
     34 		// set direction to CW and set speed to 50%
     35 		console.log("Spin M1 and M2 at half speed for 3 seconds");
     36 		my_MotorDriver_obj.setMotorDirections(groveMotorDriver_lib.GroveMD.DIR_CW,
     37                                                      groveMotorDriver_lib.GroveMD.DIR_CW);
     38 		my_MotorDriver_obj.setMotorSpeeds(127, 127);
     39 	}
     40 }
     41 
     42 function reverse()
     43 {
     44 	if (my_MotorDriver_obj)
     45 	{
     46 		// counter clockwise
     47 		console.log("Reversing M1 and M2 for 3 seconds");
     48 		my_MotorDriver_obj.setMotorDirections(groveMotorDriver_lib.GroveMD.DIR_CCW,
     49                                                      groveMotorDriver_lib.GroveMD.DIR_CCW);
     50 	}
     51 }
     52 
     53 function end()
     54 {
     55 	if (my_MotorDriver_obj)
     56 	{
     57 		console.log("Stopping motors");
     58 		my_MotorDriver_obj.setMotorSpeeds(0, 0);
     59 	}
     60 	exit();
     61 }
     62 
     63 // When exiting: clear memory and print exit message
     64 function exit()
     65 {
     66 	if (my_MotorDriver_obj)
     67 	{
     68 		my_MotorDriver_obj = null;
     69 		groveMotorDriver_lib.cleanUp();
     70 	}
     71 	groveMotorDriver_lib = null;
     72 	console.log("Exiting");
     73 	process.exit(0);
     74 }
     75 
     76 
     77 // Instantiate an I2C Grove Motor Driver on I2C bus 0
     78 var my_MotorDriver_obj = new groveMotorDriver_lib.GroveMD(
     79 	groveMotorDriver_lib.GROVEMD_I2C_BUS,
     80 	groveMotorDriver_lib.GROVEMD_DEFAULT_I2C_ADDR);
     81 
     82 start();
     83 
     84 setTimeout(function()
     85 {
     86 	reverse();
     87 	setTimeout(end, 3000);
     88 }, 3000);
     89 
     90 
     91 process.on('SIGINT', function()
     92 {
     93 	exit();
     94 });
     95