| /* |
| * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com> |
| * Copyright (c) 2014 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 <iostream> |
| #include "es08a.h" |
| #include <signal.h> |
| #include <stdlib.h> |
| |
| int |
| main(int argc, char **argv) |
| { |
| //! [Interesting] |
| upm::ES08A *servo = new upm::ES08A(5); |
| |
| // Sets the shaft to 180, then to 90, then to 0, |
| // then back to 90, and finally back to 180, |
| // pausing for a second in between each angle |
| servo->setAngle (180); |
| std::cout << "Set angle to 180" << std::endl; |
| sleep(1); |
| servo->setAngle (90); |
| std::cout << "Set angle to 90" << std::endl; |
| sleep(1); |
| servo->setAngle (0); |
| std::cout << "Set angle to 0" << std::endl; |
| sleep(1); |
| servo->setAngle (90); |
| std::cout << "Set angle to 90" << std::endl; |
| sleep(1); |
| servo->setAngle (180); |
| std::cout << "Set angle to 180" << std::endl; |
| //! [Interesting] |
| |
| std::cout << "exiting application" << std::endl; |
| |
| delete servo; |
| |
| return 0; |
| } |