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