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