| /* |
| * 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 "uln200xa.h" |
| |
| using namespace std; |
| |
| int main () |
| { |
| //! [Interesting] |
| |
| // Instantiate a Stepper motor on a ULN200XA Dual H-Bridge. |
| |
| // 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 = new upm::ULN200XA(4096, 8, 9, 10, 11); |
| |
| uln200xa->setSpeed(5); |
| uln200xa->setDirection(upm::ULN200XA::DIR_CW); |
| cout << "Rotating 1 revolution clockwise." << endl; |
| uln200xa->stepperSteps(4096); |
| cout << "Sleeping for 2 seconds..." << endl; |
| sleep(2); |
| cout << "Rotating 1/2 revolution counter clockwise." << endl; |
| uln200xa->setDirection(upm::ULN200XA::DIR_CCW); |
| uln200xa->stepperSteps(2048); |
| |
| // turn off the power |
| uln200xa->release(); |
| |
| //! [Interesting] |
| cout << "Exiting..." << endl; |
| |
| delete uln200xa; |
| return 0; |
| } |
| |