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