1 /* 2 * Author: Jon Trulson <jtrulson (at) ics.com> 3 * Copyright (c) 2015 Intel Corporation. 4 * 5 * Permission is hereby granted, free of charge, to any person obtaining 6 * a copy of this software and associated documentation files (the 7 * "Software"), to deal in the Software without restriction, including 8 * without limitation the rights to use, copy, modify, merge, publish, 9 * distribute, sublicense, and/or sell copies of the Software, and to 10 * permit persons to whom the Software is furnished to do so, subject to 11 * the following conditions: 12 * 13 * The above copyright notice and this permission notice shall be 14 * included in all copies or substantial portions of the Software. 15 * 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE 20 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 21 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 22 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 23 */ 24 25 #include <unistd.h> 26 #include <iostream> 27 #include "uln200xa.h" 28 29 using namespace std; 30 31 int main () 32 { 33 //! [Interesting] 34 35 // Instantiate a Stepper motor on a ULN200XA Dual H-Bridge. 36 37 // This was tested with the Grove Gear Stepper Motor with Driver 38 39 // Wire the pins so that I1 is pin D8, I2 is pin D9, I3 is pin D10 and 40 // I4 is pin D11 41 upm::ULN200XA* uln200xa = new upm::ULN200XA(4096, 8, 9, 10, 11); 42 43 uln200xa->setSpeed(5); 44 uln200xa->setDirection(upm::ULN200XA::DIR_CW); 45 cout << "Rotating 1 revolution clockwise." << endl; 46 uln200xa->stepperSteps(4096); 47 cout << "Sleeping for 2 seconds..." << endl; 48 sleep(2); 49 cout << "Rotating 1/2 revolution counter clockwise." << endl; 50 uln200xa->setDirection(upm::ULN200XA::DIR_CCW); 51 uln200xa->stepperSteps(2048); 52 53 // turn off the power 54 uln200xa->release(); 55 56 //! [Interesting] 57 cout << "Exiting..." << endl; 58 59 delete uln200xa; 60 return 0; 61 } 62 63
