1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
|
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <unistd.h>
#include <iostream>
#include "l298.hpp"
using namespace std;
int main ()
{
//! [Interesting]
// Instantiate one of the 2 possible DC motors on a L298 Dual
// H-Bridge. For controlling a stepper motor, see the l298-stepper
// example.
upm::L298* l298 = new upm::L298(3, 4, 7);
cout << "Starting motor at 50% for 3 seconds..." << endl;
l298->setSpeed(50);
l298->setDirection(upm::L298::DIR_CW);
l298->enable(true);
sleep(3);
cout << "Reversing direction..." << endl;
l298->setDirection(upm::L298::DIR_NONE); // fast stop
l298->setDirection(upm::L298::DIR_CCW);
sleep(3);
l298->setSpeed(0);
l298->enable(false);
//! [Interesting]
cout << "Exiting..." << endl;
delete l298;
return 0;
}
|
