1 /*
2  * Author: Stefan Andritoiu <stefan.andritoiu@intel.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 public class ES08ASample {
26 	static {
27 		try {
28 			System.loadLibrary("javaupm_servo");
29 		} catch (UnsatisfiedLinkError e) {
30 			System.err.println("error in loading native library");
31 			System.exit(-1);
32 		}
33 	}
34 
main(String[] args)35 	public static void main(String[] args) throws InterruptedException {
36 		// ! [Interesting]
37 		upm_servo.ES08A servo = new upm_servo.ES08A(6);
38 
39 		// Sets the shaft to 180, then to 90, then to 0,
40 		// then back to 90, and finally back to 180,
41 		// pausing for a second in between each angle
42 		servo.setAngle(180);
43 		System.out.println("Set angle to 180");
44 		Thread.sleep(1000);
45 
46 		servo.setAngle(90);
47 		System.out.println("Set angle to 90");
48 		Thread.sleep(1000);
49 
50 		servo.setAngle(0);
51 		System.out.println("Set angle to 0");
52 		Thread.sleep(1000);
53 
54 		servo.setAngle(90);
55 		System.out.println("Set angle to 90");
56 		Thread.sleep(1000);
57 
58 		servo.setAngle(180);
59 		System.out.println("Set angle to 180");
60 		// ! [Interesting]
61 	}
62 }