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70 lines
2.2 KiB
C
70 lines
2.2 KiB
C
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2016 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 <stdio.h>
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#include <upm_utilities.h>
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#include "uln200xa.h"
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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 ULN200XA Darlington controller.
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// This was tested with the Grove Gear Stepper Motor with Driver
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// Wire the pins so that I1 is pin D8, I2 is pin D9, I3 is pin D10 and
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// I4 is pin D11
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uln200xa_context motor = uln200xa_init(4096, 8, 9, 10, 11);
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if (!motor)
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{
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printf("uln200xa_init() failed\n");
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return 1;
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}
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uln200xa_set_speed(motor, 5);
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uln200xa_set_direction(motor, ULN200XA_DIR_CW);
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printf("Rotating 1 revolution clockwise.\n");
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uln200xa_stepper_steps(motor, 4096);
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printf("Sleeping for 2 seconds...\n");
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upm_delay(2);
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printf("Rotating 1/2 revolution counter clockwise.\n");
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uln200xa_set_direction(motor, ULN200XA_DIR_CCW);
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uln200xa_stepper_steps(motor, 2048);
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// turn off the power
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uln200xa_release(motor);
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printf("Exiting...\n");
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uln200xa_close(motor);
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//! [Interesting]
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return 0;
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}
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