55 lines
1.3 KiB
C++
55 lines
1.3 KiB
C++
/*
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Provided to you by Emlid Ltd (c) 2014.
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twitter.com/emlidtech || www.emlid.com || info@emlid.com
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Example: Read accelerometer, gyroscope and magnetometer values from
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MPU9250 inertial measurement unit over SPI on Raspberry Pi + Navio.
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Navio's onboard MPU9250 is connected to the SPI bus on Raspberry Pi
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and can be read through /dev/spidev0.1
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To run this example navigate to the directory containing it and run following commands:
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make
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./AccelGyroMag
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*/
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#include "darkwater/DW640.h"
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#include "darkwater/Util.h"
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#include <stdlib.h>
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//=============================================================================
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int main()
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{
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if (check_apm()) {
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return 1;
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}
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//-------------------------------------------------------------------------
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DW640 dw;
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dw.initialize();
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dw.setMotorSpeed( 1, 1500 );
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printf("forward\n");
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dw.setMotorSpeed( 1, 2000 );
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usleep(2000000);
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dw.setMotorSpeed( 1, 1950 );
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usleep(2000000);
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dw.setMotorSpeed( 1, 1900 );
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usleep(2000000);
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dw.setMotorSpeed( 1, 1800 );
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usleep(2000000);
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dw.setMotorSpeed( 1, 1700 );
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usleep(2000000);
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dw.setMotorSpeed( 1, 1600 );
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usleep(2000000);
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printf("stop\n");
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dw.setMotorSpeed( 1, 1500 );
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usleep(5000000);
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printf("reverse\n");
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dw.setMotorSpeed( 1, 1250 );
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usleep(5000000);
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printf("stop\n");
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dw.setMotorSpeed( 1, 1500 );
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}
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