1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
|
/*
* Authors: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
* Mihai Tudor Panu <mihai.tudor.panu@intel.com>
* Copyright (c) 2014 Intel Corporation.
*
* 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 <signal.h>
#include "stepmotor.h"
using namespace std;
int doWork = 1;
upm::StepMotor *sensor = NULL;
void
sig_handler(int signo)
{
printf("got signal\n");
if (signo == SIGINT) {
printf("exiting application\n");
doWork = 0;
}
}
int
main(int argc, char **argv)
{
//! [Interesting]
sensor = new upm::StepMotor(2, 3);
while (doWork) {
cout << "1 Revolution forward and back at 60 rpm" << endl;
sensor->setSpeed(60);
sensor->stepForward(200);
usleep(1000000);
sensor->stepBackward(200);
usleep(1000000);
cout << "1 Revolution forward and back at 150 rpm" << endl;
sensor->setSpeed(150);
sensor->stepForward(200);
usleep(1000000);
sensor->stepBackward(200);
usleep(1000000);
cout << "1 Revolution forward and back at 300 rpm" << endl;
sensor->setSpeed(300);
sensor->stepForward(200);
usleep (1000000);
sensor->stepBackward(200);
usleep (1000000);
}
delete sensor;
//! [Interesting]
return 0;
}
|
