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 GroveMDSample {
26 	private static final short speed50 = 127;
27 	private static final short speed0 = 0;
28 
29 	static {
30 		try {
31 			System.loadLibrary("javaupm_grovemd");
32 		} catch (UnsatisfiedLinkError e) {
33 			System.err.println("error in loading native library");
34 			System.exit(-1);
35 		}
36 	}
37 
main(String[] args)38 	public static void main(String[] args) throws InterruptedException {
39 		// ! [Interesting]
40 		// Instantiate an I2C Grove Motor Driver on I2C bus 0
41 		upm_grovemd.GroveMD motors = new upm_grovemd.GroveMD();
42 
43 		// set direction to clockwise (CW) and set speed to 50%
44 		System.out.println("Spin M1 and M2 at half speed for 3 seconds");
45 		motors.setMotorDirections(upm_grovemd.GroveMD.DC_DIRECTION_T.DIR_CW,
46 				upm_grovemd.GroveMD.DC_DIRECTION_T.DIR_CW);
47 		motors.setMotorSpeeds(speed50, speed50);
48 		Thread.sleep(3000);
49 
50 		// counter clockwise (CCW)
51 		System.out.println("Reversing M1 and M2 for 3 seconds");
52 		motors.setMotorDirections(upm_grovemd.GroveMD.DC_DIRECTION_T.DIR_CCW,
53 				upm_grovemd.GroveMD.DC_DIRECTION_T.DIR_CCW);
54 		Thread.sleep(3000);
55 
56 		// stop motors
57 		System.out.println("Stopping motors");
58 		motors.setMotorSpeeds(speed0, speed0);
59 		// ! [Interesting]
60 	}
61 
62 }