testing

examples/Motor/Makefile

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+CC = g++
+DW = ../../darkwater
+INCLUDES = -I ../..
+
+all:
+	$(CC) $(INCLUDES) Motor.cpp $(DW)/DW640.cpp $(DW)/PCA9685.cpp $(DW)/I2Cdev.cpp $(DW)/gpio.cpp $(DW)/Util.cpp -o Motor
+
+clean:
+	rm Motor

examples/Motor/Motor.cpp

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+/*
+Provided to you by Emlid Ltd (c) 2014.
+twitter.com/emlidtech || www.emlid.com || info@emlid.com
+
+Example: Read accelerometer, gyroscope and magnetometer values from
+MPU9250 inertial measurement unit over SPI on Raspberry Pi + Navio.
+
+Navio's onboard MPU9250 is connected to the SPI bus on Raspberry Pi
+and can be read through /dev/spidev0.1
+
+To run this example navigate to the directory containing it and run following commands:
+make
+./AccelGyroMag
+*/
+
+#include "darkwater/DW640.h"
+#include "darkwater/Util.h"
+#include <stdlib.h>
+//=============================================================================
+
+int main()
+{
+    if (check_apm()) {
+        return 1;
+    }
+	//-------------------------------------------------------------------------
+	DW640 dw;
+	dw.initialize();
+
+	if(dw.testConnection()) {
+		printf("OK %4.f ", 2000);
+	} else {
+		printf("Not Ok %4.f ", 1000);
+	}
+
+	}