text: /*
  * Author: Zion Orent <zorent@ics.com>
  * 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.
  */
  
  var MotorDriver_lib = require('jsupm_md');
  
  function start()
  {
  	if (my_MotorDriver_obj)
  	{
  		// set direction to CW and set speed to 50%
  		console.log("Spin M1 and M2 at half speed for 3 seconds");
  		my_MotorDriver_obj.setMotorDirections(MotorDriver_lib.MD.DIR_CW,
                                                       MotorDriver_lib.MD.DIR_CW);
  		my_MotorDriver_obj.setMotorSpeeds(127, 127);
  	}
  }
  
  function reverse()
  {
  	if (my_MotorDriver_obj)
  	{
  		// counter clockwise
  		console.log("Reversing M1 and M2 for 3 seconds");
  		my_MotorDriver_obj.setMotorDirections(MotorDriver_lib.MD.DIR_CCW,
                                                       MotorDriver_lib.MD.DIR_CCW);	
  	}
  }
  
  function end()
  {
  	if (my_MotorDriver_obj)
  	{
  		console.log("Stopping motors");
  		my_MotorDriver_obj.setMotorSpeeds(0, 0);
  	}
  	exit();
  }
  
  // When exiting: clear memory and print exit message
  function exit()
  {
  	if (my_MotorDriver_obj)
  	{
  		my_MotorDriver_obj = null;
  		MotorDriver_lib.cleanUp();
  	}
  	MotorDriver_lib = null;
  	console.log("Exiting");
  	process.exit(0);	
  }
  
  
  // Instantiate an I2C Motor Driver on I2C bus 0
  var my_MotorDriver_obj = new MotorDriver_lib.MD(
  	MotorDriver_lib.MD_I2C_BUS, 
  	MotorDriver_lib.MD_DEFAULT_I2C_ADDR);
  
  start();
  
  setTimeout(function()
  {
  	reverse();
  	setTimeout(end, 3000);
  }, 3000);
  
  
  process.on('SIGINT', function()
  {
  	exit();
  });
  