upm/examples/c++/rgbringcoder.cxx

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2015 Intel Corporation.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject to
 * the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#include <unistd.h>
#include <iostream>
#include "rgbringcoder.h"
#include <signal.h>

using namespace std;

int shouldRun = true;

void sig_handler(int signo)
{
  if (signo == SIGINT)
    shouldRun = false;
}


int main(int argc, char **argv)
{
  signal(SIGINT, sig_handler);

  //! [Interesting]
  
  // There are a lot of pins to hook up.  These pins are valid for the
  // Edison board, but may need to be adjusted for other platforms.

  // In order:
  // enable      - 4
  // latch       - 10
  // clear       - 11
  // clock       - 2
  // data        - 9
  // switch      - 7

  // red pwm     - 3
  // green pwm   - 5
  // blue pwm    - 6

  // encA        - 12
  // encB        - 13

  upm::RGBRingCoder *ringCoder = 
    new upm::RGBRingCoder(4, 10, 11, 2, 9, 7, 12, 13, 3, 5, 6);

  uint16_t spin = 0x0001;
  bool oldState = false;
  int oldPos = 0;

  // Lets go green
  ringCoder->setRGBLED(0.99, 0.01, 0.99);

  while (shouldRun)
    {
      // you spin me round...
      if (spin == 0)
        spin = 0x0001;

      ringCoder->setRingLEDS(spin);
      spin <<= 1;

      // check button state
      bool bstate = ringCoder->getButtonState();
      if (bstate != oldState)
        {
          cout << "Button state changed from " << oldState << " to "
               << bstate << endl;
          oldState = bstate;
        }

      // check encoder position
      int epos = ringCoder->getEncoderPosition();
      if (epos != oldPos)
        {
          cout << "Encoder position changed from " << oldPos << " to "
               << epos << endl;
          oldPos = epos;
        }

      usleep(100000);
    }
      
  //! [Interesting]
  
  delete ringCoder;
  
  return 0;
}