smartdriveCXXworked

/*
 * Author: Oussema Harbi <[email protected]>
 * Below are the terms of usage of this file
 *
 * 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.h"
#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

    // Instantiate a a SmartDrive connected to /dev/i2c-0 bus, using DefaultAddress
    drive = new upm::SmartDrive(1);

	drive->command(0x52);
	drive->StopMotor(Motor_ID_BOTH, Action_Brake);
	sleep(5);
    std::cout << "Battery Voltage before motor run : " << drive->GetBattVoltage() << std::endl;
	std::cout << "Pos M1 : " << drive->ReadTachometerPosition(Motor_ID_1)<< std::endl;
	std::cout << "Pos M2 : " << drive->ReadTachometerPosition(Motor_ID_2)<< std::endl;
	//Set motor M1 to run for 300seconds, with speed of 15RPM, waith for it to finish and then Brake It
	drive->Run_Seconds(Motor_ID_BOTH, Dir_Reverse, 90, 70, true, Action_Brake );
	std::cout << "Battery Voltage after motor run : " << drive->GetBattVoltage() << std::endl;
	std::cout << "Pos M1 : " << drive->ReadTachometerPosition(Motor_ID_1) << std::endl;

    //you pass ID of motor to run to functions
	//If you want to run only motor 1, you use Motor_ID_1
	//IF you want to run only motor 2, you use Motor_ID_2
	//If you want to run 2 motors, you use Motor_ID_BOTH
	// ok ?
    return 0;
}