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