1 /*
2  * Author: Jon Trulson <jtrulson@ics.com>
3  * Copyright (c) 2014 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 "grovemd.h"
29 
30 using namespace std;
31 
main(int argc,char ** argv)32 int main(int argc, char **argv)
33 {
34   //! [Interesting]
35   // Instantiate an I2C Grove Motor Driver on I2C bus 0
36 
37   upm::GroveMD *motors = new upm::GroveMD(GROVEMD_I2C_BUS,
38                                           GROVEMD_DEFAULT_I2C_ADDR);
39 
40   // set direction to CW and set speed to 50%
41   cout << "Spin M1 and M2 at half speed for 3 seconds" << endl;
42   motors->setMotorDirections(upm::GroveMD::DIR_CW, upm::GroveMD::DIR_CW);
43   motors->setMotorSpeeds(127, 127);
44 
45   sleep(3);
46   // counter clockwise
47   cout << "Reversing M1 and M2 for 3 seconds" << endl;
48   motors->setMotorDirections(upm::GroveMD::DIR_CCW, upm::GroveMD::DIR_CCW);
49   sleep(3);
50 
51   //! [Interesting]
52 
53   cout << "Stopping motors" << endl;
54   motors->setMotorSpeeds(0, 0);
55 
56   cout << "Exiting..." << endl;
57 
58   delete motors;
59   return 0;
60 }
61