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l298: Initial implementation

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This was tested on the RobotBase Dual H-Bridge motor control board.

There are two examples:

l298-example: This example demonstrates using the class to contol one
of the H-Brdges to control a DC motor.

l298-stepper-example: This example demonstrates using the class to
control a 4-wire dual-phase stepper motor.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Zion Orent <zorent@ics.com>
Signed-off-by: John Van Drasek <john.r.van.drasek@intel.com>
This commit is contained in:
Jon Trulson 2015-02-20 17:49:56 -07:00 committed by John Van Drasek
parent 925260a234
commit 518d80cdcd
10 changed files with 822 additions and 0 deletions
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5
examples/c++/CMakeLists.txt
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@ -94,6 +94,8 @@ add_executable (groveemg-example groveemg.cxx)
add_executable (groveo2-example groveo2.cxx)
add_executable (grovegsr-example grovegsr.cxx)
add_executable (ina132-example ina132.cxx)
add_executable (l298-example l298.cxx)
add_executable (l298-stepper-example l298-stepper.cxx)
include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@ -170,6 +172,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/groveemg)
include_directories (${PROJECT_SOURCE_DIR}/src/groveo2)
include_directories (${PROJECT_SOURCE_DIR}/src/grovegsr)
include_directories (${PROJECT_SOURCE_DIR}/src/ina132)
include_directories (${PROJECT_SOURCE_DIR}/src/l298)
target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@ -265,3 +268,5 @@ target_link_libraries (groveemg-example groveemg ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (groveo2-example groveo2 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (grovegsr-example grovegsr ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (ina132-example ina132 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (l298-example l298 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (l298-stepper-example l298 ${CMAKE_THREAD_LIBS_INIT})

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examples/c++/l298-stepper.cxx Normal file
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@ -0,0 +1,61 @@
/*
* 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;
}

61
examples/c++/l298.cxx Normal file
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@ -0,0 +1,61 @@
/*
* 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 one of the 2 possible DC motors on a L298 Dual
// H-Bridge. For controlling a stepper motor, see the l298-stepper
// example.
upm::L298* l298 = new upm::L298(3, 4, 7);
cout << "Starting motor at 50% for 3 seconds..." << endl;
l298->setSpeed(50);
l298->setDirection(upm::L298::DIR_CW);
l298->enable(true);
sleep(3);
cout << "Reversing direction..." << endl;
l298->setDirection(upm::L298::DIR_NONE); // fast stop
l298->setDirection(upm::L298::DIR_CCW);
sleep(3);
l298->setSpeed(0);
l298->enable(false);
//! [Interesting]
cout << "Exiting..." << endl;
delete l298;
return 0;
}

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examples/javascript/l298-stepper.js Normal file
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/*jslint node:true, vars:true, bitwise:true, unparam:true */
/*jshint unused:true */
/*
* 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 HBridge_lib = require('jsupm_l298');
// Instantiate a Stepper motor on a L298 Dual H-Bridge.
// This was tested with the NEMA-17 12V, 350mA, with 200 steps per rev.
var myHBridge_obj = new HBridge_lib.L298(200, 3, 4, 7, 8, 9);
/**************************************
* Instantiate H-bridge stepper object
***************************************/
myHBridge_obj.goForward = function()
{
myHBridge_obj.setSpeed(10); // 10 RPMs
myHBridge_obj.setDirection(HBridge_lib.L298.DIR_CW);
myHBridge_obj.enable(true);
console.log("Rotating 1 full revolution at 10 RPM speed.");
// move 200 steps, a full rev
myHBridge_obj.stepperSteps(200);
};
myHBridge_obj.reverseDirection = function()
{
console.log("Rotating 1/2 revolution in opposite direction at 10 RPM speed.");
myHBridge_obj.setDirection(HBridge_lib.L298.DIR_CCW);
myHBridge_obj.stepperSteps(100);
};
myHBridge_obj.stop = function()
{
myHBridge_obj.enable(false);
};
myHBridge_obj.quit = function()
{
myHBridge_obj = null;
HBridge_lib.cleanUp();
HBridge_lib = null;
console.log("Exiting");
process.exit(0);
};
/************************
* Run H-bridge stepper!
*************************/
myHBridge_obj.goForward();
setTimeout(myHBridge_obj.reverseDirection, 2000);
setTimeout(function()
{
myHBridge_obj.stop();
myHBridge_obj.quit();
}, 4000);

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examples/javascript/l298.js Normal file
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@ -0,0 +1,77 @@
/*jslint node:true, vars:true, bitwise:true, unparam:true */
/*jshint unused:true */
/*
* 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 HBridge_lib = require('jsupm_l298');
// Instantiate one of the 2 possible DC motors on a L298 Dual
// H-Bridge. For controlling a stepper motor, see the l298-stepper
// example.
var myHBridge_obj = new HBridge_lib.L298(3, 4, 7);
/*****************************
* Instantiate H-bridge object
******************************/
myHBridge_obj.goForward = function()
{
console.log("Starting motor at 50% for 3 seconds...");
myHBridge_obj.setSpeed(50);
myHBridge_obj.setDirection(HBridge_lib.L298.DIR_CW);
myHBridge_obj.enable(true);
};
myHBridge_obj.reverseDirection = function()
{
console.log("Reversing direction...");
myHBridge_obj.setDirection(HBridge_lib.L298.DIR_NONE); // fast stop
myHBridge_obj.setDirection(HBridge_lib.L298.DIR_CCW);
};
myHBridge_obj.stop = function()
{
myHBridge_obj.setSpeed(0);
myHBridge_obj.enable(false);
};
myHBridge_obj.quit = function()
{
myHBridge_obj = null;
HBridge_lib.cleanUp();
HBridge_lib = null;
console.log("Exiting");
process.exit(0);
};
/************************
* Run H-bridge!
*************************/
myHBridge_obj.goForward();
setTimeout(myHBridge_obj.reverseDirection, 3000);
setTimeout(function()
{
myHBridge_obj.stop();
myHBridge_obj.quit();
}, 6000);

5
src/l298/CMakeLists.txt Normal file
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@ -0,0 +1,5 @@
set (libname "l298")
set (libdescription "upm l298 dual h-bridge")
set (module_src ${libname}.cxx)
set (module_h ${libname}.h)
upm_module_init()

8
src/l298/jsupm_l298.i Normal file
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@ -0,0 +1,8 @@
%module jsupm_l298
%include "../upm.i"
%{
#include "l298.h"
%}
%include "l298.h"

335
src/l298/l298.cxx Normal file
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@ -0,0 +1,335 @@
/*
* 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 <iostream>
#include "l298.h"
using namespace upm;
using namespace std;
// constructor for the DC motor(s) mode
L298::L298(int pwmA, int dir1, int dir2)
{
// No stepper in this mode
m_stepper = false;
// disable until complete
m_motor = false;
if ( !(m_pwm = mraa_pwm_init(pwmA)) )
{
cerr << __FUNCTION__ << ": mraa_pwm_init(pwm) failed" << endl;
return;
}
if ( !(m_dir1 = mraa_gpio_init(dir1)) )
{
cerr << __FUNCTION__ << ": mraa_gpio_init(dir1) failed" << endl;
mraa_pwm_close(m_pwm);
return;
}
mraa_gpio_dir(m_dir1, MRAA_GPIO_OUT);
if ( !(m_dir2 = mraa_gpio_init(dir2)) )
{
cerr << __FUNCTION__ << ": mraa_gpio_init(dir2) failed" << endl;
mraa_pwm_close(m_pwm);
mraa_gpio_close(m_dir1);
return;
}
mraa_gpio_dir(m_dir2, MRAA_GPIO_OUT);
setPeriodMS(L298_DEFAULT_PWM_PERIOD);
setDirection(DIR_NONE);
setSpeed(0);
m_motor = true;
}
// constructor for the stepper mode
L298::L298(int stepsPerRev, int en, int i1, int i2, int i3, int i4)
{
// no DC motors in this mode
m_motor = false;
// disable until complete
m_stepper = false;
m_stepsPerRev = stepsPerRev;
m_currentStep = 0;
m_stepDelay = 0;
m_stepDirection = 1; // default is forward
// init the gpio's we will need
if ( !(m_stepEnable = mraa_gpio_init(en)) )
{
cerr << __FUNCTION__ << ": mraa_gpio_init(en) failed" << endl;
return;
}
mraa_gpio_dir(m_stepEnable, MRAA_GPIO_OUT);
if ( !(m_stepI1 = mraa_gpio_init(i1)) )
{
cerr << __FUNCTION__ << ": mraa_gpio_init(i1) failed" << endl;
return;
}
mraa_gpio_dir(m_stepI1, MRAA_GPIO_OUT);
if ( !(m_stepI2 = mraa_gpio_init(i2)) )
{
cerr << __FUNCTION__ << ": mraa_gpio_init(i2) failed" << endl;
mraa_gpio_close(m_stepI1);
return;
}
mraa_gpio_dir(m_stepI2, MRAA_GPIO_OUT);
if ( !(m_stepI3 = mraa_gpio_init(i3)) )
{
cerr << __FUNCTION__ << ": mraa_gpio_init(i3) failed" << endl;
mraa_gpio_close(m_stepI1);
mraa_gpio_close(m_stepI2);
return;
}
mraa_gpio_dir(m_stepI3, MRAA_GPIO_OUT);
if ( !(m_stepI4 = mraa_gpio_init(i4)) )
{
cerr << __FUNCTION__ << ": mraa_gpio_init(i4) failed" << endl;
mraa_gpio_close(m_stepI1);
mraa_gpio_close(m_stepI2);
mraa_gpio_close(m_stepI3);
return;
}
mraa_gpio_dir(m_stepI4, MRAA_GPIO_OUT);
m_stepper = true;
}
void L298::initClock()
{
gettimeofday(&m_startTime, NULL);
}
uint32_t L298::getMillis()
{
struct timeval elapsed, now;
uint32_t elapse;
// get current time
gettimeofday(&now, NULL);
// compute the delta since m_startTime
if( (elapsed.tv_usec = now.tv_usec - m_startTime.tv_usec) < 0 )
{
elapsed.tv_usec += 1000000;
elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec - 1;
}
else
{
elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec;
}
elapse = (uint32_t)((elapsed.tv_sec * 1000) + (elapsed.tv_usec / 1000));
// never return 0
if (elapse == 0)
elapse = 1;
return elapse;
}
L298::~L298()
{
if (m_stepper)
{
enable(false);
mraa_gpio_close(m_stepEnable);
mraa_gpio_close(m_stepI1);
mraa_gpio_close(m_stepI2);
mraa_gpio_close(m_stepI3);
mraa_gpio_close(m_stepI4);
}
if (m_motor)
{
setDirection(DIR_NONE);
setSpeed(0);
enable(false);
mraa_pwm_close(m_pwm);
mraa_gpio_close(m_dir1);
mraa_gpio_close(m_dir2);
}
}
void L298::setPeriodMS(int ms)
{
if (m_motor)
{
if (mraa_pwm_period_ms(m_pwm, ms) != MRAA_SUCCESS)
cerr << __FUNCTION__ << ": period specified is not supported"
<< endl;
}
}
void L298::enable(bool enable)
{
if (m_motor)
{
mraa_pwm_enable(m_pwm, ((enable) ? 1 : 0));
}
if (m_stepper)
{
mraa_gpio_write(m_stepEnable, ((enable) ? 1 : 0));
}
}
void L298::setSpeed(int speed)
{
if (m_motor)
{
if (speed < 0)
speed = 0;
if (speed > 100)
speed = 100;
float percent = float(speed) / 100.0;
if (m_motor)
{
mraa_pwm_write(m_pwm, percent);
}
}
if (m_stepper)
{
m_stepDelay = 60 * 1000 / m_stepsPerRev / speed;
}
}
void L298::setDirection(L298_DIRECTION_T dir)
{
if (m_motor)
{
if (dir & 0x01)
mraa_gpio_write(m_dir1, 1);
else
mraa_gpio_write(m_dir1, 0);
if (dir & 0x02)
mraa_gpio_write(m_dir2, 1);
else
mraa_gpio_write(m_dir2, 0);
}
if (m_stepper)
{
switch (dir)
{
case DIR_CW:
m_stepDirection = 1;
break;
case DIR_CCW:
m_stepDirection = -1;
break;
default: // default to 1 if DIR_NONE specified
m_stepDirection = 1;
break;
}
}
}
void L298::stepperStep()
{
int step = m_currentStep % 4;
// Step I0 I1 I2 I3
// 1 1 0 1 0
// 2 0 1 1 0
// 3 0 1 0 1
// 4 1 0 0 1
switch (step)
{
case 0: // 1010
mraa_gpio_write(m_stepI1, 1);
mraa_gpio_write(m_stepI2, 0);
mraa_gpio_write(m_stepI3, 1);
mraa_gpio_write(m_stepI4, 0);
break;
case 1: // 0110
mraa_gpio_write(m_stepI1, 0);
mraa_gpio_write(m_stepI2, 1);
mraa_gpio_write(m_stepI3, 1);
mraa_gpio_write(m_stepI4, 0);
break;
case 2: //0101
mraa_gpio_write(m_stepI1, 0);
mraa_gpio_write(m_stepI2, 1);
mraa_gpio_write(m_stepI3, 0);
mraa_gpio_write(m_stepI4, 1);
break;
case 3: //1001
mraa_gpio_write(m_stepI1, 1);
mraa_gpio_write(m_stepI2, 0);
mraa_gpio_write(m_stepI3, 0);
mraa_gpio_write(m_stepI4, 1);
break;
}
}
void L298::stepperSteps(unsigned int steps)
{
while (steps > 0)
{
if (getMillis() >= m_stepDelay)
{
// reset the clock
initClock();
m_currentStep += m_stepDirection;
if (m_stepDirection == 1)
{
if (m_currentStep >= m_stepsPerRev)
m_currentStep = 0;
}
else
{
if (m_currentStep <= 0)
m_currentStep = m_stepsPerRev;
}
steps--;
stepperStep();
// cerr << "STEPNUM: " << m_currentStep << endl;
}
}
}

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src/l298/l298.h Normal file
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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.
*/
#pragma once
#include <stdint.h>
#include <sys/time.h>
#include <mraa/gpio.h>
#include <mraa/pwm.h>
// in milliseconds
#define L298_DEFAULT_PWM_PERIOD 4
namespace upm {
/**
* @brief C++ API for the L298 Dual H-Bridge module
* @defgroup l298 libupm-l298
*/
/**
* @brief UPM module for the L298 Dual H-Bridge
*
* It was developed using the RobotBase Dual H-Bridge module.
*
* This module can support 2 DC motors, or 1 2-phase stepper motor.
* It requires 3 pins per DC motor (or h-bridge), or 4 pins for
* the stepper (uses both h-bridges).
*
* @ingroup l298 pwm gpio
* Example driving a DC motor
* @snippet l298.cxx Interesting
* Example driving a stepper motor
* @snippet l298-stepper.cxx Interesting
*/
class L298 {
public:
/**
* Enum to specify the direction of a motor
*/
typedef enum {
DIR_NONE = 0x00,
DIR_CW = 0x01,
DIR_CCW = 0x02
} L298_DIRECTION_T;
/**
* L298 constructor for DC motor(s) connected.
*
* @param pwm digital pin to use for DC motor - must be PWM capable
* @param dir1 digital pin to use for motor direction pin 1
* @param dir2 digital pin to use for motor direction pin 2
*/
L298(int pwm, int dir1, int dir2);
/**
* L298 constructor for 4-wire stepper motor
*
* @param stepsPerRev number of steps per full revolution
* @param en enable pin
* @param i1 digital pin to use for stepper input 1
* @param i2 digital pin to use for stepper input 2
* @param i3 digital pin to use for stepper input 3
* @param i4 digital pin to use for stepper input 4
*/
L298(int stepsPerRev, int en, int i1, int i2, int i3, int i4);
/**
* L298 Destructor
*/
~L298();
/**
* Return the number of milliseconds elapsed since initClock()
* was last called.
*
* @return elapsed milliseconds
*/
uint32_t getMillis();
/**
* Reset the Clock
*
*/
void initClock();
/**
* set the period in milliseconds
*
* @param ms period in milliseconds
*/
void setPeriodMS(int ms);
/**
* enable PWM output for a motor
*
* @param enable enable PWM output if true, disable if false
*/
void enable(bool enable);
/**
* set the speed of a DC or stepp motor. For a DC motor, Values
* can range from 0 (off) to 100 (full speed). For a stepper
* motor, specify the desired RPM.
*
* @param speed speed to set the motor to
*/
void setSpeed(int speed);
/**
* set the direction of the motor, clockwise or counter clockwise
*
* @param dir direction to set the motor to
*/
void setDirection(L298_DIRECTION_T dir);
/**
* step the stepper motor a specified number of steps
*
* @param steps number of steps to move the stepper motor
*/
void stepperSteps(unsigned int steps);
private:
// DC motor mode enabled
bool m_motor;
// stepper mode enabled
bool m_stepper;
struct timeval m_startTime;
// DC motor
mraa_pwm_context m_pwm;
mraa_gpio_context m_dir1;
mraa_gpio_context m_dir2;
// stepper (4-wire)
mraa_gpio_context m_stepEnable;
mraa_gpio_context m_stepI1;
mraa_gpio_context m_stepI2;
mraa_gpio_context m_stepI3;
mraa_gpio_context m_stepI4;
// steps per revolution
int m_stepsPerRev;
int m_currentStep;
uint32_t m_stepDelay;
/**
* step the motor one tick
*
*/
void stepperStep();
// step direction - 1 = forward, -1 = backward
int m_stepDirection;
};
}

9
src/l298/pyupm_l298.i Normal file
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%module pyupm_l298
%include "../upm.i"
%feature("autodoc", "3");
%include "l298.h"
%{
#include "l298.h"
%}