1 /*
2  * Author: Stefan Andritoiu <stefan.andritoiu@intel.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 //NOT TESTED!!!
26 public class ULN200XASample {
27 
28 	static {
29 		try {
30 			System.loadLibrary("javaupm_uln200xa");
31 		} catch (UnsatisfiedLinkError e) {
32 			System.err.println("error in loading native library");
33 			System.exit(-1);
34 		}
35 	}
36 
main(String[] args)37 	public static void main(String[] args) throws InterruptedException {
38 		// ! [Interesting]
39 		// Instantiate a Stepper motor on a ULN200XA Dual H-Bridge.
40 		// Wire the pins so that I1 is pin D8, I2 is pin D9, I3 is pin D10 and
41 		// I4 is pin D11
42 		upm_uln200xa.ULN200XA uln200xa = new upm_uln200xa.ULN200XA(4096, 8, 9, 10, 11);
43 
44 		uln200xa.setSpeed(5);
45 		System.out.println("Rotating 1 revolution clockwise.");
46 		uln200xa.setDirection(upm_uln200xa.ULN200XA.ULN200XA_DIRECTION_T.DIR_CW);
47 		uln200xa.stepperSteps(4096);
48 
49 		System.out.println("Sleeping for 2 seconds...");
50 		Thread.sleep(2000);
51 
52 		System.out.println("Rotating 1/2 revolution counter clockwise.");
53 		uln200xa.setDirection(upm_uln200xa.ULN200XA.ULN200XA_DIRECTION_T.DIR_CCW);
54 		uln200xa.stepperSteps(2048);
55 
56 		// turn off the power
57 		uln200xa.release();
58 		// ! [Interesting]
59 
60 		System.out.println("Exiting...");
61 	}
62 
63 }