/* * Author: Jon Trulson * 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 #include "uln200xa.hpp" #include "upm_utilities.h" using namespace std; int main() { //! [Interesting] // Instantiate a Stepper motor on a ULN200XA Darlington controller. // 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(4096, 8, 9, 10, 11); uln200xa.setSpeed(5); uln200xa.setDirection(ULN200XA_DIR_CW); cout << "Rotating 1 revolution clockwise." << endl; uln200xa.stepperSteps(4096); cout << "Sleeping for 2 seconds..." << endl; upm_delay(2); cout << "Rotating 1/2 revolution counter clockwise." << endl; uln200xa.setDirection(ULN200XA_DIR_CCW); uln200xa.stepperSteps(2048); // turn off the power uln200xa.release(); //! [Interesting] cout << "Exiting..." << endl; return 0; }