1/*jslint node:true, vars:true, bitwise:true, unparam:true */ 2/*jshint unused:true */ 3 4/* 5* Author: Zion Orent <zorent@ics.com> 6* Copyright (c) 2015 Intel Corporation. 7* 8* Permission is hereby granted, free of charge, to any person obtaining 9* a copy of this software and associated documentation files (the 10* "Software"), to deal in the Software without restriction, including 11* without limitation the rights to use, copy, modify, merge, publish, 12* distribute, sublicense, and/or sell copies of the Software, and to 13* permit persons to whom the Software is furnished to do so, subject to 14* the following conditions: 15* 16* The above copyright notice and this permission notice shall be 17* included in all copies or substantial portions of the Software. 18* 19* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 20* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 21* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 22* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE 23* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 24* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 25* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 26*/ 27 28var groveMotorDriver_lib = require('jsupm_grovemd'); 29 30function start() 31{ 32 if (my_MotorDriver_obj) 33 { 34 // set direction to CW and set speed to 50% 35 console.log("Spin M1 and M2 at half speed for 3 seconds"); 36 my_MotorDriver_obj.setMotorDirections(groveMotorDriver_lib.GroveMD.DIR_CW, 37 groveMotorDriver_lib.GroveMD.DIR_CW); 38 my_MotorDriver_obj.setMotorSpeeds(127, 127); 39 } 40} 41 42function reverse() 43{ 44 if (my_MotorDriver_obj) 45 { 46 // counter clockwise 47 console.log("Reversing M1 and M2 for 3 seconds"); 48 my_MotorDriver_obj.setMotorDirections(groveMotorDriver_lib.GroveMD.DIR_CCW, 49 groveMotorDriver_lib.GroveMD.DIR_CCW); 50 } 51} 52 53function end() 54{ 55 if (my_MotorDriver_obj) 56 { 57 console.log("Stopping motors"); 58 my_MotorDriver_obj.setMotorSpeeds(0, 0); 59 } 60 exit(); 61} 62 63// When exiting: clear memory and print exit message 64function exit() 65{ 66 if (my_MotorDriver_obj) 67 { 68 my_MotorDriver_obj = null; 69 groveMotorDriver_lib.cleanUp(); 70 } 71 groveMotorDriver_lib = null; 72 console.log("Exiting"); 73 process.exit(0); 74} 75 76 77// Instantiate an I2C Grove Motor Driver on I2C bus 0 78var my_MotorDriver_obj = new groveMotorDriver_lib.GroveMD( 79 groveMotorDriver_lib.GROVEMD_I2C_BUS, 80 groveMotorDriver_lib.GROVEMD_DEFAULT_I2C_ADDR); 81 82start(); 83 84setTimeout(function() 85{ 86 reverse(); 87 setTimeout(end, 3000); 88}, 3000); 89 90 91process.on('SIGINT', function() 92{ 93 exit(); 94}); 95