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 one of the 2 possible DC motors on a L298 Dual
36 // H-Bridge. For controlling a stepper motor, see the l298-stepper
37 // example.
38 upm::L298* l298 = new upm::L298(3, 4, 7);
39
40 cout << "Starting motor at 50% for 3 seconds..." << endl;
41 l298->setSpeed(50);
42 l298->setDirection(upm::L298::DIR_CW);
43 l298->enable(true);
44
45 sleep(3);
46
47 cout << "Reversing direction..." << endl;
48 l298->setDirection(upm::L298::DIR_NONE); // fast stop
49 l298->setDirection(upm::L298::DIR_CCW);
50 sleep(3);
51
52 l298->setSpeed(0);
53 l298->enable(false);
54
55 //! [Interesting]
56
57 cout << "Exiting..." << endl;
58
59 delete l298;
60 return 0;
61 }
62