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