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 stepper motor connected to the M1 & M2 ports
43 
44   // set a PWM period of 50Hz
45 
46   // disable first, to be safe
47   ms->disableStepper(AdafruitMS1438::STEPMOTOR_M12);
48 
49   // configure for a NEMA-17, 200 steps per revolution
50   ms->stepConfig(AdafruitMS1438::STEPMOTOR_M12, 200);
51 
52   // set speed at 10 RPM's
53   ms->setStepperSpeed(AdafruitMS1438::STEPMOTOR_M12, 10);
54   ms->setStepperDirection(AdafruitMS1438::STEPMOTOR_M12,
55                           AdafruitMS1438::DIR_CW);
56 
57   // enable
58   cout << "Enabling..." << endl;
59   ms->enableStepper(AdafruitMS1438::STEPMOTOR_M12);
60 
61   cout << "Rotating 1 full revolution at 10 RPM speed." << endl;
62   ms->stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 200);
63 
64   cout << "Sleeping for 2 seconds..." << endl;
65   sleep(2);
66   cout << "Rotating 1/2 revolution in opposite direction at 10 RPM speed."
67        << endl;
68 
69   ms->setStepperDirection(AdafruitMS1438::STEPMOTOR_M12,
70                           AdafruitMS1438::DIR_CCW);
71   ms->stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 100);
72 
73   cout << "Disabling..." << endl;
74   ms->disableStepper(AdafruitMS1438::STEPMOTOR_M12);
75 
76   cout << "Exiting" << endl;
77 
78 //! [Interesting]
79 
80   delete ms;
81   return 0;
82 }
83