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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>
62 lines
2.0 KiB
C++
62 lines
2.0 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2015 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <unistd.h>
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#include <iostream>
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#include "l298.h"
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using namespace std;
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int main ()
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{
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//! [Interesting]
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// Instantiate a Stepper motor on a L298 Dual H-Bridge.
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// This was tested with the NEMA-17 12V, 350mA, with 200 steps per rev.
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upm::L298* l298 = new upm::L298(200, 3, 4, 7, 8, 9);
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l298->setSpeed(10); // 10 RPMs
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l298->setDirection(upm::L298::DIR_CW);
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l298->enable(true);
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cout << "Rotating 1 full revolution at 10 RPM speed." << endl;
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// move 200 steps, a full rev
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l298->stepperSteps(200);
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cout << "Sleeping for 2 seconds..." << endl;
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sleep(2);
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cout << "Rotating 1/2 revolution in opposite direction at 10 RPM speed."
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<< endl;
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l298->setDirection(upm::L298::DIR_CCW);
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l298->stepperSteps(100);
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// release
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l298->enable(false);
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//! [Interesting]
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cout << "Exiting..." << endl;
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delete l298;
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return 0;
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}
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