uln200xa: Initial implementation

This driver was tested on a Grove Geared Stepper with Driver, the
uln2003a paired with a 28BYJ-48 unipolar stepper motor.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: John Van Drasek <john.r.van.drasek@intel.com>

examples/c++/CMakeLists.txt

@@ -111,6 +111,7 @@ add_executable (waterlevel-example waterlevel.cxx)
 add_executable (tm1637-example tm1637.cxx)
 add_executable (zfm20-example zfm20.cxx)
 add_executable (zfm20-register-example zfm20-register.cxx)
+add_executable (uln200xa-example uln200xa.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
 include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -200,6 +201,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/apds9002)
 include_directories (${PROJECT_SOURCE_DIR}/src/waterlevel)
 include_directories (${PROJECT_SOURCE_DIR}/src/tm1637)
 include_directories (${PROJECT_SOURCE_DIR}/src/zfm20)
+include_directories (${PROJECT_SOURCE_DIR}/src/uln200xa)
 
 target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@@ -312,3 +314,4 @@ target_link_libraries (waterlevel-example waterlevel ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (tm1637-example tm1637 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (zfm20-example zfm20 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (zfm20-register-example zfm20 ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (uln200xa-example uln200xa ${CMAKE_THREAD_LIBS_INIT})

examples/c++/uln200xa.cxx

@@ -0,0 +1,62 @@
+/*
+ * 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 "uln200xa.h"
+
+using namespace std;
+
+int main ()
+{
+  //! [Interesting]
+
+  // Instantiate a Stepper motor on a ULN200XA Dual H-Bridge.
+
+  // This was tested with the Grove Gear Stepper Motor with Driver
+
+  // Wire the pins so that I1 is pin D8, I2 is pin D9, I3 is pin D10 and
+  // I4 is pin D11
+  upm::ULN200XA* uln200xa = new upm::ULN200XA(4096, 8, 9, 10, 11);
+
+  uln200xa->setSpeed(5);
+  uln200xa->setDirection(upm::ULN200XA::DIR_CW);
+  cout << "Rotating 1 revolution clockwise." << endl;
+  uln200xa->stepperSteps(4096);
+  cout << "Sleeping for 2 seconds..." << endl;
+  sleep(2);
+  cout << "Rotating 1/2 revolution counter clockwise." << endl;
+  uln200xa->setDirection(upm::ULN200XA::DIR_CCW);
+  uln200xa->stepperSteps(2048);
+
+  // turn off the power
+  uln200xa->release();
+
+  //! [Interesting]
+  cout << "Exiting..." << endl;
+
+  delete uln200xa;
+  return 0;
+}
+

examples/javascript/uln200xa.js

@@ -0,0 +1,71 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+/*
+* 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.
+*/
+
+var Uln200xa_lib = require('jsupm_uln200xa');
+
+// Instantiate a Stepper motor on a ULN200XA Darlington Motor Driver
+// This was tested with the Grove Geared Step Motor with Driver
+
+// Instantiate a ULN2003XA stepper object
+var myUln200xa_obj = new Uln200xa_lib.ULN200XA(4096, 8, 9, 10, 11);
+
+myUln200xa_obj.goForward = function()
+{
+    myUln200xa_obj.setSpeed(5); // 5 RPMs
+    myUln200xa_obj.setDirection(Uln200xa_lib.ULN200XA.DIR_CW);
+    console.log("Rotating 1 revolution clockwise.");
+    myUln200xa_obj.stepperSteps(4096);
+};
+
+myUln200xa_obj.reverseDirection = function()
+{
+	console.log("Rotating 1/2 revolution counter clockwise.");
+	myUln200xa_obj.setDirection(Uln200xa_lib.ULN200XA.DIR_CCW);
+	myUln200xa_obj.stepperSteps(2048);
+};
+
+myUln200xa_obj.stop = function()
+{
+	myUln200xa_obj.release();
+};
+
+myUln200xa_obj.quit = function()
+{
+	myUln200xa_obj = null;
+	Uln200xa_lib.cleanUp();
+	Uln200xa_lib = null;
+	console.log("Exiting");
+	process.exit(0);
+};
+
+// Run ULN200xa driven stepper
+myUln200xa_obj.goForward();
+setTimeout(myUln200xa_obj.reverseDirection, 2000);
+setTimeout(function()
+{
+	myUln200xa_obj.stop();
+	myUln200xa_obj.quit();
+}, 2000);

examples/python/uln200xa.py

@@ -0,0 +1,66 @@
+#!/usr/bin/python
+# 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.
+
+
+import time, sys, signal, atexit
+import pyupm_uln200xa as upmULN200XA
+
+# Instantiate a Stepper motor on a ULN200XA Darlington Motor Driver
+# This was tested with the Grove Geared Step Motor with Driver
+
+# Instantiate a ULN2003XA stepper object
+myUln200xa = upmULN200XA.ULN200XA(4096, 8, 9, 10, 11)
+
+## Exit handlers ##
+# This stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This lets you run code on exit,
+# including functions from myUln200xa
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+
+myUln200xa.setSpeed(5) # 5 RPMs
+myUln200xa.setDirection(upmULN200XA.ULN200XA.DIR_CW)
+
+print "Rotating 1 revolution clockwise."
+myUln200xa.stepperSteps(4096)
+
+print "Sleeping for 2 seconds..."
+time.sleep(2)
+
+print "Rotating 1/2 revolution counter clockwise."
+myUln200xa.setDirection(upmULN200XA.ULN200XA.DIR_CCW)
+myUln200xa.stepperSteps(2048)
+
+# release
+myUln200xa.release()
+
+# exitHandler is called automatically