1765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang/* 2765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * Author: Stefan Andritoiu <stefan.andritoiu@intel.com> 3765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * Copyright (c) 2015 Intel Corporation. 4765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * 5765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * Permission is hereby granted, free of charge, to any person obtaining 6765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * a copy of this software and associated documentation files (the 7765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * "Software"), to deal in the Software without restriction, including 8765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * without limitation the rights to use, copy, modify, merge, publish, 9765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * distribute, sublicense, and/or sell copies of the Software, and to 10765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * permit persons to whom the Software is furnished to do so, subject to 11765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * the following conditions: 12765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * 13765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * The above copyright notice and this permission notice shall be 14765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * included in all copies or substantial portions of the Software. 15765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * 16765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 17765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 18765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 19765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE 20765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 21765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 22765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 23765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang */ 24765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 25765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang//NOT TESTED!!! 26765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangpublic class StepMotorSample { 27765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 28765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang static { 29765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang try { 30765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang System.loadLibrary("javaupm_stepmotor"); 31765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang } catch (UnsatisfiedLinkError e) { 32765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang System.err.println("error in loading native library"); 33765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang System.exit(-1); 34765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang } 35765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang } 36765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 37765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang public static void main(String[] args) throws InterruptedException { 38765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang // ! [Interesting] 39765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang upm_stepmotor.StepMotor sensor = new upm_stepmotor.StepMotor(4, 6); 40765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 41765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang while (true) { 42765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang sensor.setSpeed(500); 43765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang sensor.stepForward(500); 44765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang Thread.sleep(10); 45765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang sensor.stepBackwards(500); 46765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang Thread.sleep(10); 47765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 48765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang sensor.setSpeed(750); 49765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang sensor.stepForward(500); 50765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang Thread.sleep(10); 51765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang sensor.stepBackwards(500); 52765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang Thread.sleep(10); 53765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 54765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang sensor.setSpeed(1000); 55765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang sensor.stepForward(500); 56765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang Thread.sleep(10); 57765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang sensor.stepBackwards(500); 58765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang Thread.sleep(10); 59765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang } 60765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang // ! [Interesting] 61765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang } 62765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang}