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stepper example

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This commit is contained in:
shrkey
2016-10-17 14:50:57 +01:00
parent 3d4679936e
commit 9e53436da9
5 changed files with 137 additions and 11 deletions
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2
examples/Makefile
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@@ -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 \

34
examples/Motor/Motor.cpp
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@@ -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"

29
examples/Servo/Servo.cpp
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@@ -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*/

9
examples/Stepper/Makefile Normal file
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@@ -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

74
examples/Stepper/Stepper.cpp Normal file
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@@ -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 <stdlib.h>
//=============================================================================
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();
}