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Initial escape library

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This commit is contained in:
shrkey
2016-10-10 22:42:09 +01:00
parent d3429c677a
commit 9f4dffe704
24 changed files with 2872 additions and 0 deletions
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9
examples/Motor/Makefile Normal file
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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

110
examples/Motor/Motor.cpp Normal file
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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();
DW_Motor *dw1 = dw.getMotor(1);
DW_Motor *dw2 = dw.getMotor(2);
DW_Motor *dw3 = dw.getMotor(3);
DW_Motor *dw4 = dw.getMotor(4);
DW_Motor *dw5 = dw.getMotor(5);
DW_Motor *dw6 = dw.getMotor(6);
dw1->off();
dw2->off();
dw3->off();
dw4->off();
dw5->off();
dw6->off();
usleep(1000000);
printf("Set forward - \n");
printf("Motor 1\n");
dw1->setMotorSpeed( 255 );
usleep(1000000);
printf("Motor 2\n");
dw2->setMotorSpeed( 255 );
usleep(1000000);
printf("Motor 3\n");
dw3->setMotorSpeed( 255 );
usleep(1000000);
printf("Motor 4\n");
dw4->setMotorSpeed( 255 );
usleep(1000000);
printf("Motor 5\n");
dw5->setMotorSpeed( 255 );
usleep(1000000);
printf("Motor 6\n");
dw6->setMotorSpeed( 255 );
usleep(1000000);
printf("Stopping - \n");
printf("Motor 1\n");
dw1->setMotorSpeed( 0 );
usleep(1000000);
printf("Motor 2\n");
dw2->setMotorSpeed( 0 );
usleep(1000000);
printf("Motor 3\n");
dw3->setMotorSpeed( 0 );
usleep(1000000);
printf("Motor 4\n");
dw4->setMotorSpeed( 0 );
usleep(1000000);
printf("Motor 5\n");
dw5->setMotorSpeed( 0 );
usleep(1000000);
printf("Motor 6\n");
dw6->setMotorSpeed( 0 );
usleep(1000000);
printf("Set reverse - \n");
printf("Motor 1\n");
dw1->setMotorSpeed( -255 );
usleep(1000000);
printf("Motor 2\n");
dw2->setMotorSpeed( -255 );
usleep(1000000);
printf("Motor 3\n");
dw3->setMotorSpeed( -255 );
usleep(1000000);
printf("Motor 4\n");
dw4->setMotorSpeed( -255 );
usleep(1000000);
printf("Motor 5\n");
dw5->setMotorSpeed( -255 );
usleep(1000000);
printf("Motor 6\n");
dw6->setMotorSpeed( -255 );
usleep(1000000);
printf("All off \n");
dw1->off();
dw2->off();
dw3->off();
dw4->off();
dw5->off();
dw6->off();
}