Merge pull request #13 from bcmi-labs/refactor-Moving_Motors

Clean-up and refactor `examples`/`Moving_Motors`

Author: aentinger

examples/Moving_Motors/Moving_Motors.ino

@@ -0,0 +1,48 @@
+/* This example demonstrates how to use the motor
+ * API of the Braccio++ to directly control the
+ * angle for each smart servo motor.
+ */
+
+#include <Braccio++.h>
+
+void setup()
+{
+  Serial.begin(115200);
+  while(!Serial){}
+
+  /* Call Braccio.begin() for default menu
+   * or pass a function for custom menu.
+   */
+  Braccio.begin();
+
+  Serial.println("Testing motor angular movement!");
+}
+
+void loop()
+{
+  Serial.println("Choose motor to test (1 - 6):");
+  Serial.println(">> ");
+
+  while((Serial.available() <= 0)) { }
+  int const selected_motor = Serial.parseInt();
+  while(Serial.read() != '\n') { }
+
+  if (selected_motor < 1 || selected_motor > 6) {
+    Serial.println("Error, wrong motor id, choose motor id between 1 and 6");
+    return;
+  }
+
+  float const ANGLE_START     = 0.0;
+  float const ANGLE_STOP      = 180.0;
+  float const ANGLE_INCREMENT = 10.0;
+
+  for (float angle = ANGLE_START; angle <= ANGLE_STOP; angle += ANGLE_INCREMENT)
+  {
+    Braccio.move(selected_motor).to(angle);
+    Serial.print("Target angle: " + String(angle));
+    Serial.print(" | ");
+    Serial.print("Current angle: " + String(Braccio.get(selected_motor).position()));
+    Serial.println();
+    delay(100);
+  }
+}