1 /*
2  * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.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 <string.h>
26 #include <unistd.h>
27 #include <iostream>
28 #include "stepmotor.h"
29 #include <signal.h>
30 
31 int doWork = 0;
32 upm::StepMotor *sensor = NULL;
33 
34 void
sig_handler(int signo)35 sig_handler(int signo)
36 {
37     printf("got signal\n");
38     if (signo == SIGINT) {
39         printf("exiting application\n");
40         doWork = 1;
41     }
42 }
43 
44 int
main(int argc,char ** argv)45 main(int argc, char **argv)
46 {
47 //! [Interesting]
48     sensor = new upm::StepMotor(4, 6);
49 
50     while (!doWork) {
51         sensor->setSpeed (500);
52         sensor->stepForward (500);
53         usleep (10000);
54         sensor->stepBackwards (500);
55         usleep (10000);
56 
57         sensor->setSpeed (750);
58         sensor->stepForward (500);
59         usleep (10000);
60         sensor->stepBackwards (500);
61         usleep (10000);
62 
63         sensor->setSpeed (1000);
64         sensor->stepForward (500);
65         usleep (10000);
66         sensor->stepBackwards (500);
67         usleep (10000);
68     }
69 
70     delete sensor;
71 //! [Interesting]
72     return 0;
73 }
74