1/*jslint node:true, vars:true, bitwise:true, unparam:true */ 2/*jshint unused:true */ 3 4/* 5 * Author: Jon Trulson <jtrulson@ics.com> 6 * Copyright (c) 2015 Intel Corporation. 7 * 8 * Permission is hereby granted, free of charge, to any person obtaining 9 * a copy of this software and associated documentation files (the 10 * "Software"), to deal in the Software without restriction, including 11 * without limitation the rights to use, copy, modify, merge, publish, 12 * distribute, sublicense, and/or sell copies of the Software, and to 13 * permit persons to whom the Software is furnished to do so, subject to 14 * the following conditions: 15 * 16 * The above copyright notice and this permission notice shall be 17 * included in all copies or substantial portions of the Software. 18 * 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 20 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 21 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 22 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE 23 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 24 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 25 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 26 */ 27 28var grovemdObj = require('jsupm_grovemd'); 29 30// This example demonstrates using the GroveMD to drive a stepper motor 31 32function start() 33{ 34 if (motor) 35 { 36 // configure it, for this example, we'll assume 200 steps per rev 37 motor.configStepper(200); 38 motor.setStepperSteps(100); 39 // start it going at 10 RPM 40 motor.enableStepper(grovemdObj.GroveMD.STEP_DIR_CW, 10); 41 } 42} 43 44function reverse() 45{ 46 if (motor) 47 { 48 // now reverse 49 motor.setStepperSteps(100); 50 // start it going at 10 RPM 51 motor.enableStepper(grovemdObj.GroveMD.STEP_DIR_CCW, 10); 52 } 53} 54 55function end() 56{ 57 if (motor) 58 { 59 motor.disableStepper(); 60 } 61 exit(); 62} 63 64// When exiting: clear memory and print exit message 65function exit() 66{ 67 if (motor) 68 { 69 motor = null; 70 grovemdObj.cleanUp(); 71 } 72 grovemdObj = null; 73 console.log("Exiting"); 74 process.exit(0); 75} 76 77 78// Instantiate an I2C Grove Motor Driver on I2C bus 0 79var motor = new grovemdObj.GroveMD( 80 grovemdObj.GROVEMD_I2C_BUS, 81 grovemdObj.GROVEMD_DEFAULT_I2C_ADDR); 82 83start(); 84 85setTimeout(function() 86{ 87 reverse(); 88 setTimeout(end, 3000); 89}, 3000); 90 91 92process.on('SIGINT', function() 93{ 94 exit(); 95}); 96