1 /*
2 * Author: Jon Trulson <jtrulson@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 "l298.h"
28
29 using namespace std;
30
main()31 int main ()
32 {
33 //! [Interesting]
34
35 // Instantiate a Stepper motor on a L298 Dual H-Bridge.
36
37 // This was tested with the NEMA-17 12V, 350mA, with 200 steps per rev.
38 upm::L298* l298 = new upm::L298(200, 3, 4, 7, 8, 9);
39
40 l298->setSpeed(10); // 10 RPMs
41 l298->setDirection(upm::L298::DIR_CW);
42 l298->enable(true);
43 cout << "Rotating 1 full revolution at 10 RPM speed." << endl;
44 // move 200 steps, a full rev
45 l298->stepperSteps(200);
46 cout << "Sleeping for 2 seconds..." << endl;
47 sleep(2);
48 cout << "Rotating 1/2 revolution in opposite direction at 10 RPM speed."
49 << endl;
50 l298->setDirection(upm::L298::DIR_CCW);
51 l298->stepperSteps(100);
52 // release
53 l298->enable(false);
54
55 //! [Interesting]
56
57 cout << "Exiting..." << endl;
58
59 delete l298;
60 return 0;
61 }
62