l298: Initial implementation

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>

examples/c++/CMakeLists.txt

@@ -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})

examples/c++/l298-stepper.cxx

@@ -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;
+}

examples/c++/l298.cxx

@@ -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;
+}