12345678910111213141516171819202122232425262728293031323334353637383940414243444546474849505152535455565758596061626364656667686970717273747576777879808182 |
- /*
- * 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 <signal.h>
- #include <iostream>
- #include "adafruitms1438.h"
-
- using namespace std;
- using namespace upm;
-
- int main(int argc, char **argv)
- {
- //! [Interesting]
- // Instantiate an Adafruit MS 1438 on I2C bus 0
-
- upm::AdafruitMS1438 *ms =
- new upm::AdafruitMS1438(ADAFRUITMS1438_I2C_BUS,
- ADAFRUITMS1438_DEFAULT_I2C_ADDR);
-
- // Setup for use with a stepper motor connected to the M1 & M2 ports
-
- // set a PWM period of 50Hz
-
- // disable first, to be safe
- ms->disableStepper(AdafruitMS1438::STEPMOTOR_M12);
-
- // configure for a NEMA-17, 200 steps per revolution
- ms->stepConfig(AdafruitMS1438::STEPMOTOR_M12, 200);
-
- // set speed at 10 RPM's
- ms->setStepperSpeed(AdafruitMS1438::STEPMOTOR_M12, 10);
- ms->setStepperDirection(AdafruitMS1438::STEPMOTOR_M12,
- AdafruitMS1438::DIR_CW);
-
- // enable
- cout << "Enabling..." << endl;
- ms->enableStepper(AdafruitMS1438::STEPMOTOR_M12);
-
- cout << "Rotating 1 full revolution at 10 RPM speed." << endl;
- ms->stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 200);
-
- cout << "Sleeping for 2 seconds..." << endl;
- sleep(2);
- cout << "Rotating 1/2 revolution in opposite direction at 10 RPM speed."
- << endl;
-
- ms->setStepperDirection(AdafruitMS1438::STEPMOTOR_M12,
- AdafruitMS1438::DIR_CCW);
- ms->stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 100);
-
- cout << "Disabling..." << endl;
- ms->disableStepper(AdafruitMS1438::STEPMOTOR_M12);
-
- cout << "Exiting" << endl;
-
- //! [Interesting]
-
- delete ms;
- return 0;
- }
|