1/*jslint node:true, vars:true, bitwise:true, unparam:true */
2/*jshint unused:true */
3/*
4* Author: Zion Orent <zorent@ics.com>
5* Copyright (c) 2015 Intel Corporation.
6*
7* Permission is hereby granted, free of charge, to any person obtaining
8* a copy of this software and associated documentation files (the
9* "Software"), to deal in the Software without restriction, including
10* without limitation the rights to use, copy, modify, merge, publish,
11* distribute, sublicense, and/or sell copies of the Software, and to
12* permit persons to whom the Software is furnished to do so, subject to
13* the following conditions:
14*
15* The above copyright notice and this permission notice shall be
16* included in all copies or substantial portions of the Software.
17*
18* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
19* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
20* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
21* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
22* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
23* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
24* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
25*/
26
27function exit()
28{
29	console.log("Exiting");
30
31	myMotorShield_obj = null;
32	if (MotorShield_lib)
33	{
34		MotorShield_lib.cleanUp();
35		MotorShield_lib = null;
36	}
37	process.exit(0);
38}
39
40var MotorShield_lib = require('jsupm_adafruitms1438');
41
42/* Import header values */
43var I2CBus = MotorShield_lib.ADAFRUITMS1438_I2C_BUS;
44var I2CAddr = MotorShield_lib.ADAFRUITMS1438_DEFAULT_I2C_ADDR;
45
46var M12motor = MotorShield_lib.AdafruitMS1438.STEPMOTOR_M12;
47var MotorDirCW = MotorShield_lib.AdafruitMS1438.DIR_CW;
48var MotorDirCCW = MotorShield_lib.AdafruitMS1438.DIR_CCW;
49
50
51// Instantiate an Adafruit MS 1438 on I2C bus 0
52var myMotorShield_obj = new MotorShield_lib.AdafruitMS1438(I2CBus, I2CAddr);
53
54
55// Setup for use with a stepper motor connected to the M1 & M2 ports
56
57// disable first, to be safe
58myMotorShield_obj.disableStepper(M12motor);
59
60// configure for a NEMA-17, 200 steps per revolution
61myMotorShield_obj.stepConfig(M12motor, 200);
62
63// set speed at 10 RPM's
64myMotorShield_obj.setStepperSpeed(M12motor, 10);
65myMotorShield_obj.setStepperDirection(M12motor, MotorDirCW);
66
67console.log("Enabling...");
68myMotorShield_obj.enableStepper(M12motor);
69
70console.log("Rotating 1 full revolution at 10 RPM speed.");
71myMotorShield_obj.stepperSteps(M12motor, 200);
72
73console.log("Sleeping for 2 seconds...");
74
75
76setTimeout(function()
77{
78	console.log("Rotating 1/2 revolution in opposite direction at 10 RPM speed.");
79
80	myMotorShield_obj.setStepperDirection(M12motor, MotorDirCCW);
81	myMotorShield_obj.stepperSteps(M12motor, 100);
82
83	console.log("Disabling...");
84	myMotorShield_obj.disableStepper(M12motor);
85	exit();
86}, 2000);
87
88
89process.on('SIGINT', function()
90{
91	exit();
92});
93