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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})

61
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;
}

77
examples/javascript/l298-stepper.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 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);

77
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);