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 //NOT TESTED!!!
26 public class StepMotorSample {
27 
28 	static {
29 		try {
30 			System.loadLibrary("javaupm_stepmotor");
31 		} catch (UnsatisfiedLinkError e) {
32 			System.err.println("error in loading native library");
33 			System.exit(-1);
34 		}
35 	}
36 
main(String[] args)37 	public static void main(String[] args) throws InterruptedException {
38 		// ! [Interesting]
39 		upm_stepmotor.StepMotor sensor = new upm_stepmotor.StepMotor(4, 6);
40 
41 		while (true) {
42 			sensor.setSpeed(500);
43 			sensor.stepForward(500);
44 			Thread.sleep(10);
45 			sensor.stepBackwards(500);
46 			Thread.sleep(10);
47 
48 			sensor.setSpeed(750);
49 			sensor.stepForward(500);
50 			Thread.sleep(10);
51 			sensor.stepBackwards(500);
52 			Thread.sleep(10);
53 
54 			sensor.setSpeed(1000);
55 			sensor.stepForward(500);
56 			Thread.sleep(10);
57 			sensor.stepBackwards(500);
58 			Thread.sleep(10);
59 		}
60 		// ! [Interesting]
61 	}
62 }