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/*
* 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.hpp"
#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;
}
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