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 43/* Import header values */ 44var I2CBus = MotorShield_lib.ADAFRUITMS1438_I2C_BUS; 45var I2CAddr = MotorShield_lib.ADAFRUITMS1438_DEFAULT_I2C_ADDR; 46 47var M3motor = MotorShield_lib.AdafruitMS1438.MOTOR_M3; 48var MotorDirCW = MotorShield_lib.AdafruitMS1438.DIR_CW; 49var MotorDirCCW = MotorShield_lib.AdafruitMS1438.DIR_CCW; 50 51 52// Instantiate an Adafruit MS 1438 on I2C bus 0 53var myMotorShield_obj = new MotorShield_lib.AdafruitMS1438(I2CBus, I2CAddr); 54 55 56// Setup for use with a DC motor connected to the M3 port 57 58// set a PWM period of 50Hz 59myMotorShield_obj.setPWMPeriod(50); 60 61// disable first, to be safe 62myMotorShield_obj.disableMotor(M3motor); 63 64// set speed at 50% 65myMotorShield_obj.setMotorSpeed(M3motor, 50); 66myMotorShield_obj.setMotorDirection(M3motor, MotorDirCW); 67 68process.stdout.write("Spin M3 at half speed for 3 seconds, "); 69console.log("then reverse for 3 seconds."); 70myMotorShield_obj.enableMotor(M3motor); 71 72setTimeout(function() 73{ 74 console.log("Reversing M3"); 75 myMotorShield_obj.setMotorDirection(M3motor, MotorDirCCW); 76}, 3000); 77 78 79setTimeout(function() 80{ 81 console.log("Stopping M3"); 82 myMotorShield_obj.disableMotor(M3motor); 83 exit(); 84}, 6000); 85 86process.on('SIGINT', function() 87{ 88 exit(); 89}); 90