/* * Author: Jon Trulson <jtrulson@ics.com> * Copyright (c) 2015 Intel Corporation. * * Permission is hereby granted, free of charge, to any person obtaining * a copy of this software and associated documentation files (the * "Software"), to deal in the Software without restriction, including * without limitation the rights to use, copy, modify, merge, publish, * distribute, sublicense, and/or sell copies of the Software, and to * permit persons to whom the Software is furnished to do so, subject to * the following conditions: * * The above copyright notice and this permission notice shall be * included in all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ #include <unistd.h> #include <signal.h> #include <iostream> #include "grovemd.h" using namespace std; int main(int argc, char **argv) { //! [Interesting] // Instantiate an I2C Grove Motor Driver on I2C bus 0 upm::GroveMD *motors = new upm::GroveMD(GROVEMD_I2C_BUS, GROVEMD_DEFAULT_I2C_ADDR); // This example demonstrates using the GroveMD to drive a stepper motor // configure it, for this example, we'll assume 200 steps per rev motors->configStepper(200); // set for half a rotation motors->setStepperSteps(100); // let it go - clockwise rotation, 10 RPM speed motors->enableStepper(upm::GroveMD::STEP_DIR_CW, 10); sleep(3); // Now do it backwards... motors->setStepperSteps(100); motors->enableStepper(upm::GroveMD::STEP_DIR_CCW, 10); // now disable motors->disableStepper(); //! [Interesting] cout << "Exiting..." << endl; delete motors; return 0; }