upm/examples/c++/l298-stepper.cxx

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/*
* Author: Jon Trulson <jtrulson@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.
*/
#include <unistd.h>
#include <iostream>
#include "l298.h"
using namespace std;
int main ()
{
//! [Interesting]
// Instantiate a Stepper motor on a L298 Dual H-Bridge.
// This was tested with the NEMA-17 12V, 350mA, with 200 steps per rev.
upm::L298* l298 = new upm::L298(200, 3, 4, 7, 8, 9);
l298->setSpeed(10); // 10 RPMs
l298->setDirection(upm::L298::DIR_CW);
l298->enable(true);
cout << "Rotating 1 full revolution at 10 RPM speed." << endl;
// move 200 steps, a full rev
l298->stepperSteps(200);
cout << "Sleeping for 2 seconds..." << endl;
sleep(2);
cout << "Rotating 1/2 revolution in opposite direction at 10 RPM speed."
<< endl;
l298->setDirection(upm::L298::DIR_CCW);
l298->stepperSteps(100);
// release
l298->enable(false);
//! [Interesting]
cout << "Exiting..." << endl;
delete l298;
return 0;
}