diff --git a/examples/Makefile b/examples/Makefile index 68abe94..d784922 100644 --- a/examples/Makefile +++ b/examples/Makefile @@ -1,4 +1,4 @@ -MODULES = AccelGyroMag ADC AHRS Barometer FRAM GPS LED Multithread PPM-decoder Servo +MODULES = AccelGyroMag Motor Stepper Multithread PPM-decoder Servo all: for dir in $(MODULES); do \ diff --git a/examples/Motor/Motor.cpp b/examples/Motor/Motor.cpp index 9e8b41b..33f04f0 100644 --- a/examples/Motor/Motor.cpp +++ b/examples/Motor/Motor.cpp @@ -1,16 +1,30 @@ /* -Provided to you by Emlid Ltd (c) 2014. -twitter.com/emlidtech || www.emlid.com || info@emlid.com +Example code is placed under the BSD license. +Written by Team Dark Water (team@darkwater.io) +Copyright (c) 2014, Dark Water +All rights reserved. -Example: Read accelerometer, gyroscope and magnetometer values from -MPU9250 inertial measurement unit over SPI on Raspberry Pi + Navio. +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Emlid Limited nor the names of its contributors + may be used to endorse or promote products derived from this software + without specific prior written permission. -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 +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL EMLID LIMITED BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ #include "darkwater/DW640.h" diff --git a/examples/Servo/Servo.cpp b/examples/Servo/Servo.cpp index 8f8c0a7..39d87c6 100644 --- a/examples/Servo/Servo.cpp +++ b/examples/Servo/Servo.cpp @@ -1,3 +1,32 @@ +/* +Example code is placed under the BSD license. +Written by Team Dark Water (team@darkwater.io) +Copyright (c) 2014, Dark Water +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Emlid Limited nor the names of its contributors + may be used to endorse or promote products derived from this software + without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL EMLID LIMITED BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + #define SERVO_MIN 1.250 /*mS*/ #define SERVO_MAX 1.750 /*mS*/ diff --git a/examples/Stepper/Makefile b/examples/Stepper/Makefile new file mode 100644 index 0000000..c728b6d --- /dev/null +++ b/examples/Stepper/Makefile @@ -0,0 +1,9 @@ +CC = g++ +DW = ../../darkwater +INCLUDES = -I ../.. + +all: + $(CC) $(INCLUDES) Stepper.cpp $(DW)/DW640.cpp $(DW)/PCA9685.cpp $(DW)/I2Cdev.cpp $(DW)/gpio.cpp $(DW)/Util.cpp -o Stepper + +clean: + rm Stepper diff --git a/examples/Stepper/Stepper.cpp b/examples/Stepper/Stepper.cpp new file mode 100644 index 0000000..a4e1883 --- /dev/null +++ b/examples/Stepper/Stepper.cpp @@ -0,0 +1,74 @@ +/* +Example code is placed under the BSD license. +Written by Team Dark Water (team@darkwater.io) +Copyright (c) 2014, Dark Water +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Emlid Limited nor the names of its contributors + may be used to endorse or promote products derived from this software + without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL EMLID LIMITED BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#include "darkwater/DW640.h" +#include "darkwater/Util.h" +#include +//============================================================================= + +int main() +{ + if (check_apm()) { + return 1; + } + //------------------------------------------------------------------------- + DW640 dw; + dw.initialize(); + + DW_Stepper *st1 = dw.getStepper(1); + DW_Stepper *st2 = dw.getStepper(2); + DW_Stepper *st3 = dw.getStepper(3); + + st1->off(); + st2->off(); + st3->off(); + usleep(1000000); + + st1->setMotorSpeed(200); + st2->setMotorSpeed(200); + st3->setMotorSpeed(200); + + printf("1 Forward\n"); + st1->step( 400, DW_FORWARD, DW_DOUBLE ); + printf("2 Forward\n"); + st2->step( 400, DW_FORWARD, DW_DOUBLE ); + printf("3 Forward\n"); + st3->step( 400, DW_FORWARD, DW_DOUBLE ); + + printf("1 Reverse\n"); + st1->step( 400, DW_FORWARD, DW_DOUBLE ); + printf("2 Reverse\n"); + st2->step( 400, DW_FORWARD, DW_DOUBLE ); + printf("3 Reverse\n"); + st3->step( 400, DW_FORWARD, DW_DOUBLE ); + + st1->off(); + st2->off(); + st3->off(); +}