daily_automated

trunk/Arduino/libraries/Adafruit_MotorShield/examples/StackingTest/StackingTest.ino

@@ -0,0 +1,75 @@
+/* 
+This is a test sketch for the Adafruit assembled Motor Shield for Arduino v2
+It won't work with v1.x motor shields! Only for the v2's with built in PWM
+control
+
+For use with the Adafruit Motor Shield v2 
+---->	http://www.adafruit.com/products/1438
+*/
+
+#include <Wire.h>
+#include <Adafruit_MotorShield.h>
+
+Adafruit_MotorShield AFMSbot(0x61); // Rightmost jumper closed
+Adafruit_MotorShield AFMStop(0x60); // Default address, no jumpers
+
+// On the top shield, connect two steppers, each with 200 steps
+Adafruit_StepperMotor *myStepper2 = AFMStop.getStepper(200, 1);
+Adafruit_StepperMotor *myStepper3 = AFMStop.getStepper(200, 2);
+
+// On the bottom shield connect a stepper to port M3/M4 with 200 steps
+Adafruit_StepperMotor *myStepper1 = AFMSbot.getStepper(200, 2);
+// And a DC Motor to port M1
+Adafruit_DCMotor *myMotor1 = AFMSbot.getMotor(1);
+
+void setup() {
+  while (!Serial);
+  Serial.begin(9600);           // set up Serial library at 9600 bps
+  Serial.println("MMMMotor party!");
+
+  AFMSbot.begin(); // Start the bottom shield
+  AFMStop.begin(); // Start the top shield
+   
+  // turn on the DC motor
+  myMotor1->setSpeed(200);
+  myMotor1->run(RELEASE);
+}
+
+int i;
+void loop() {
+  myMotor1->run(FORWARD);
+  
+  for (i=0; i<255; i++) {
+    myMotor1->setSpeed(i);  
+    myStepper1->onestep(FORWARD, INTERLEAVE);
+    myStepper2->onestep(BACKWARD, DOUBLE);
+    myStepper3->onestep(FORWARD, MICROSTEP);
+    delay(3);
+ }
+ 
+ for (i=255; i!=0; i--) {
+    myMotor1->setSpeed(i);  
+    myStepper1->onestep(BACKWARD, INTERLEAVE);
+    myStepper2->onestep(FORWARD, DOUBLE);
+    myStepper3->onestep(BACKWARD, MICROSTEP);
+    delay(3);
+ }
+ 
+  myMotor1->run(BACKWARD);
+  
+  for (i=0; i<255; i++) {
+    myMotor1->setSpeed(i);  
+    myStepper1->onestep(FORWARD, DOUBLE);
+    myStepper2->onestep(BACKWARD, INTERLEAVE);
+    myStepper3->onestep(FORWARD, MICROSTEP);
+    delay(3);
+ }
+ 
+  for (i=255; i!=0; i--) {
+    myMotor1->setSpeed(i);  
+    myStepper1->onestep(BACKWARD, DOUBLE);
+    myStepper2->onestep(FORWARD, INTERLEAVE);
+    myStepper3->onestep(BACKWARD, MICROSTEP);
+    delay(3);
+ }
+}