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/*
* 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 "grovemd.h"
using namespace std;
int main(int argc, char **argv)
{
//! [Interesting]
// Instantiate an I2C Grove Motor Driver on I2C bus 0
upm::GroveMD *motors = new upm::GroveMD(GROVEMD_I2C_BUS,
GROVEMD_DEFAULT_I2C_ADDR);
// This example demonstrates using the GroveMD to drive a stepper motor
// configure it, for this example, we'll assume 200 steps per rev
motors->configStepper(200);
// set for half a rotation
motors->setStepperSteps(100);
// let it go - clockwise rotation, 10 RPM speed
motors->enableStepper(upm::GroveMD::STEP_DIR_CW, 10);
sleep(3);
// Now do it backwards...
motors->setStepperSteps(100);
motors->enableStepper(upm::GroveMD::STEP_DIR_CCW, 10);
// now disable
motors->disableStepper();
//! [Interesting]
cout << "Exiting..." << endl;
delete motors;
return 0;
}
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