1 /*
2 * Author: Jon Trulson <jtrulson@ics.com>
3 * Copyright (c) 2015 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 <signal.h>
27 #include <iostream>
28 #include "adafruitms1438.h"
29
30 using namespace std;
31 using namespace upm;
32
main(int argc,char ** argv)33 int main(int argc, char **argv)
34 {
35 //! [Interesting]
36 // Instantiate an Adafruit MS 1438 on I2C bus 0
37
38 upm::AdafruitMS1438 *ms =
39 new upm::AdafruitMS1438(ADAFRUITMS1438_I2C_BUS,
40 ADAFRUITMS1438_DEFAULT_I2C_ADDR);
41
42 // Setup for use with a DC motor connected to the M3 port
43
44 // set a PWM period of 50Hz
45 ms->setPWMPeriod(50);
46
47 // disable first, to be safe
48 ms->disableMotor(AdafruitMS1438::MOTOR_M3);
49
50 // set speed at 50%
51 ms->setMotorSpeed(AdafruitMS1438::MOTOR_M3, 50);
52 ms->setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CW);
53
54 cout << "Spin M3 at half speed for 3 seconds, then reverse for 3 seconds."
55 << endl;
56
57 ms->enableMotor(AdafruitMS1438::MOTOR_M3);
58
59 sleep(3);
60
61 cout << "Reversing M3" << endl;
62 ms->setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CCW);
63
64 sleep(3);
65
66 cout << "Stopping M3" << endl;
67 ms->disableMotor(AdafruitMS1438::MOTOR_M3);
68
69 cout << "Exiting" << endl;
70
71 //! [Interesting]
72
73 delete ms;
74 return 0;
75 }
76