| /* |
| * 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 "adafruitms1438.h" |
| |
| using namespace std; |
| using namespace upm; |
| |
| int main(int argc, char **argv) |
| { |
| //! [Interesting] |
| // Instantiate an Adafruit MS 1438 on I2C bus 0 |
| |
| upm::AdafruitMS1438 *ms = |
| new upm::AdafruitMS1438(ADAFRUITMS1438_I2C_BUS, |
| ADAFRUITMS1438_DEFAULT_I2C_ADDR); |
| |
| // Setup for use with a stepper motor connected to the M1 & M2 ports |
| |
| // set a PWM period of 50Hz |
| |
| // disable first, to be safe |
| ms->disableStepper(AdafruitMS1438::STEPMOTOR_M12); |
| |
| // configure for a NEMA-17, 200 steps per revolution |
| ms->stepConfig(AdafruitMS1438::STEPMOTOR_M12, 200); |
| |
| // set speed at 10 RPM's |
| ms->setStepperSpeed(AdafruitMS1438::STEPMOTOR_M12, 10); |
| ms->setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, |
| AdafruitMS1438::DIR_CW); |
| |
| // enable |
| cout << "Enabling..." << endl; |
| ms->enableStepper(AdafruitMS1438::STEPMOTOR_M12); |
| |
| cout << "Rotating 1 full revolution at 10 RPM speed." << endl; |
| ms->stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 200); |
| |
| cout << "Sleeping for 2 seconds..." << endl; |
| sleep(2); |
| cout << "Rotating 1/2 revolution in opposite direction at 10 RPM speed." |
| << endl; |
| |
| ms->setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, |
| AdafruitMS1438::DIR_CCW); |
| ms->stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 100); |
| |
| cout << "Disabling..." << endl; |
| ms->disableStepper(AdafruitMS1438::STEPMOTOR_M12); |
| |
| cout << "Exiting" << endl; |
| |
| //! [Interesting] |
| |
| delete ms; |
| return 0; |
| } |