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