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 "uln200xa.h"
28
29 using namespace std;
30
main()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