| /* |
| * Author: Stan Gifford <stan@gifford.id.au> |
| * Copyright (c) 2015 Intel Corporation. |
| * |
| * Permission is hereby granted, free of charge, to any person obtaining |
| * a copy of this software and associated documentation files (the |
| * "Software"), to deal in the Software without restriction, including |
| * without limitation the rights to use, copy, modify, merge, publish, |
| * distribute, sublicense, and/or sell copies of the Software, and to |
| * permit persons to whom the Software is furnished to do so, subject to |
| * the following conditions: |
| * |
| * The above copyright notice and this permission notice shall be |
| * included in all copies or substantial portions of the Software. |
| * |
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
| * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
| * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
| * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE |
| * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION |
| * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION |
| * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
| */ |
| |
| |
| /** |
| * Description |
| * Demo program for Adafruit 16 channel servo shield/controller |
| * Physical setup for tests is a single servo attached to one channel. |
| * Note - when 3 or more GWS servos attached results unpredictable. |
| * Adafruit do recommend a Cap be installed on the board which should alleviate the issue. |
| * I (and Adafruit) are unable to give any Capacitor sizing data. |
| */ |
| |
| #include <iostream> |
| #include "adafruitss.h" |
| #include <unistd.h> |
| |
| using namespace std; |
| |
| int main() { |
| |
| int n; |
| |
| //! [Interesting] |
| upm::adafruitss* servos = new upm::adafruitss(6,0x40); |
| |
| for (;;) |
| { |
| cout << "Setting all to 0" << endl; |
| for (n = 0; n < 16; n++) |
| servos->servo(n, 1, 0); // GWS Mini Servo = Type 1. |
| usleep(1000000); // Wait 1 second |
| |
| cout << "Setting all to 45" << endl; |
| for (n = 0; n < 16; n++) |
| servos->servo(n, 1, 45); |
| usleep(1000000); // Wait 1 second |
| |
| cout << "Setting all to 90" << endl; |
| for (n = 0; n < 16; n++) |
| servos->servo(n, 1, 90); |
| usleep(1000000); // Wait 1 second |
| |
| cout << "Setting all to 135" << endl; |
| for (n = 0; n < 16; n++) |
| servos->servo(n, 1, 135); |
| usleep(1000000); // Wait 1 second |
| |
| cout << "Setting all to 180" << endl; |
| for (n = 0; n < 16; n++) |
| servos->servo(n, 1, 160); |
| usleep(2000000); // Wait 1 second |
| } |
| //! [Interesting] |
| return 0; |
| } |