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- /*
- * The MIT License (MIT)
- *
- * Author: Oussema Harbi <oussema.elharbi@gmail.com>
- * Copyright (c) <2016> <Oussema Harbi>
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
- #include <unistd.h>
- #include <iostream>
- #include "smartdrive.hpp"
- #include <signal.h>
- upm::SmartDrive *drive = NULL;
- void
- sig_handler(int signo)
- {
- printf("got signal\n");
- if (signo == SIGINT) {
- printf("exiting application\n");
- if (drive != NULL)
- delete drive;
- exit (0);
- }
- }
- int
- main(int argc, char **argv)
- {
- float voltage = 0;
- std::cout << "SmartDrive demo is starting. Please make sure drive is connected to board" << std::endl;
- sleep(2); //Wait for 2 seconds in case you want to fix your h/w setup
- //! [Interesting]
- // Instantiate a SmartDrive connected to /dev/i2c-0 bus, using DefaultAddress
- drive = new upm::SmartDrive(0);
- std::cout << "Battery Voltage before motor run : " << drive->GetBattVoltage() << std::endl;
- //Set motor M1 to run for 120 seconds, with speed of 15RPM, waith for it to finish and then Brake It
- drive->Run_Seconds(SmartDrive_Motor_ID_1, SmartDrive_Dir_Forward, 15, 120, true, SmartDrive_Action_Brake);
- std::cout << "Battery Voltage after motor run : " << drive->GetBattVoltage() << std::endl;
- //Rotate motor M2 2270 degrees, in reverse sense, with speed of 10RPM, return immediately from function call
- drive->Run_Degrees(SmartDrive_Motor_ID_2, SmartDrive_Dir_Reverse, 10, 2270, false, SmartDrive_Action_Float);
- //While motor is running, Display its status
- drive->PrintMotorStatus(SmartDrive_Motor_ID_2);
- sleep(2); //Sleep for 2 seconds
- //Stop motor M2 and then finish program
- drive->StopMotor(SmartDrive_Motor_ID_2, SmartDrive_Action_BrakeHold);
- //! [Interesting]
- std::cout << "Demo complete. GoodBye" << std::endl;
- delete drive;
- drive = NULL;
- return 0;
- }
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