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1 /*
2  * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
3  * Copyright (c) 2014 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 #include <unistd.h>
26 #include <iostream>
27 #include "es08a.h"
28 #include <signal.h>
29 #include <stdlib.h>
30 
31 int
main(int argc,char ** argv)32 main(int argc, char **argv)
33 {
34     //! [Interesting]
35     upm::ES08A *servo = new upm::ES08A(5);
36 
37     // Sets the shaft to 180, then to 90, then to 0,
38     // then back to 90, and finally back to 180,
39     // pausing for a second in between each angle
40     servo->setAngle (180);
41     std::cout << "Set angle to 180" << std::endl;
42     sleep(1);
43     servo->setAngle (90);
44     std::cout << "Set angle to 90" << std::endl;
45     sleep(1);
46     servo->setAngle (0);
47     std::cout << "Set angle to 0" << std::endl;
48     sleep(1);
49     servo->setAngle (90);
50     std::cout << "Set angle to 90" << std::endl;
51     sleep(1);
52     servo->setAngle (180);
53     std::cout << "Set angle to 180" << std::endl;
54     //! [Interesting]
55 
56     std::cout << "exiting application" << std::endl;
57 
58     delete servo;
59 
60     return 0;
61 }
62