1 /*
2 * Author: Stan Gifford <stan@gifford.id.au>
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
26 /**
27 * Description
28 * Demo program for Adafruit 16 channel servo shield/controller
29 * Physical setup for tests is a single servo attached to one channel.
30 * Note - when 3 or more GWS servos attached results unpredictable.
31 * Adafruit do recommend a Cap be installed on the board which should alleviate the issue.
32 * I (and Adafruit) are unable to give any Capacitor sizing data.
33 */
34
35 #include <iostream>
36 #include "adafruitss.h"
37 #include <unistd.h>
38
39 using namespace std;
40
main()41 int main() {
42
43 int n;
44
45 //! [Interesting]
46 upm::adafruitss* servos = new upm::adafruitss(6,0x40);
47
48 for (;;)
49 {
50 cout << "Setting all to 0" << endl;
51 for (n = 0; n < 16; n++)
52 servos->servo(n, 1, 0); // GWS Mini Servo = Type 1.
53 usleep(1000000); // Wait 1 second
54
55 cout << "Setting all to 45" << endl;
56 for (n = 0; n < 16; n++)
57 servos->servo(n, 1, 45);
58 usleep(1000000); // Wait 1 second
59
60 cout << "Setting all to 90" << endl;
61 for (n = 0; n < 16; n++)
62 servos->servo(n, 1, 90);
63 usleep(1000000); // Wait 1 second
64
65 cout << "Setting all to 135" << endl;
66 for (n = 0; n < 16; n++)
67 servos->servo(n, 1, 135);
68 usleep(1000000); // Wait 1 second
69
70 cout << "Setting all to 180" << endl;
71 for (n = 0; n < 16; n++)
72 servos->servo(n, 1, 160);
73 usleep(2000000); // Wait 1 second
74 }
75 //! [Interesting]
76 return 0;
77 }
78