L298 Class Reference

C++ API for the L298 Dual H-Bridge module. More...

Detailed Description

• ID: l298
• Name: L298 Dual H-Bridge Motor Driver
• Category: motor
• Manufacturer: seeed sparkfun
• Connection: gpio pwm

It was developed using the RobotBase Dual H-Bridge module.

This module can support 2 DC motors, or 1 2-phase stepper motor. It requires 3 pins per DC motor (or h-bridge), or 4 pins for the stepper (uses both h-bridges).

Example driving a DC motor

  // 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);
 

Example driving a stepper motor

  // Instantiate a Stepper motor on a L298 Dual H-Bridge.

  // This was tested with the NEMA-17 12V, 350mA, with 200 steps per rev.
  upm::L298* l298 = new upm::L298(200, 3, 4, 7, 8, 9);

  l298->setSpeed(10);            // 10 RPMs
  l298->setDirection(upm::L298::DIR_CW);
  l298->enable(true);
  cout << "Rotating 1 full revolution at 10 RPM speed." << endl;
  // move 200 steps, a full rev
  l298->stepperSteps(200);
  cout << "Sleeping for 2 seconds..." << endl;
  sleep(2);
  cout << "Rotating 1/2 revolution in opposite direction at 10 RPM speed." 
       << endl;
  l298->setDirection(upm::L298::DIR_CCW);
  l298->stepperSteps(100);
  // release
  l298->enable(false);

Public Types
enum	L298_DIRECTION_T { DIR_NONE = 0x00, DIR_CW = 0x01, DIR_CCW = 0x02 }

Public Member Functions
	L298 (int pwm, int dir1, int dir2)
	L298 (int stepsPerRev, int en, int i1, int i2, int i3, int i4)
	~L298 ()
uint32_t	getMillis ()
void	initClock ()
void	setPeriodMS (int ms)
void	enable (bool enable)
void	setSpeed (int speed)
void	setDirection (L298_DIRECTION_T dir)
void	stepperSteps (unsigned int steps)

Constructor & Destructor Documentation

L298	(	int	pwm,
		int	dir1,
		int	dir2
	)

L298 constructor for DC motor(s) connected.

Parameters

pwm	digital pin to use for DC motor - must be PWM capable
dir1	digital pin to use for motor direction pin 1
dir2	digital pin to use for motor direction pin 2

L298	(	int	stepsPerRev,
		int	en,
		int	i1,
		int	i2,
		int	i3,
		int	i4
	)

L298 constructor for 4-wire stepper motor

Parameters

stepsPerRev	number of steps per full revolution
en	enable pin
i1	digital pin to use for stepper input 1
i2	digital pin to use for stepper input 2
i3	digital pin to use for stepper input 3
i4	digital pin to use for stepper input 4

~L298

(

)

L298 Destructor

Member Function Documentation

uint32_t getMillis

(

)

Return the number of milliseconds elapsed since initClock() was last called.

Returns

elapsed milliseconds

void initClock

(

)

Reset the Clock

void setPeriodMS

(

int

ms

)

set the period in milliseconds

Parameters

ms	period in milliseconds

void enable

(

bool

enable

)

enable PWM output for a motor

Parameters

enable

enable PWM output if true, disable if false

void setSpeed

(

int

speed

)

set the speed of a DC or stepp motor. For a DC motor, Values can range from 0 (off) to 100 (full speed). For a stepper motor, specify the desired RPM.

Parameters

speed

speed to set the motor to

void setDirection

(

L298_DIRECTION_T

dir

)

set the direction of the motor, clockwise or counter clockwise

Parameters

dir	direction to set the motor to

void stepperSteps

(

unsigned int

steps

)

step the stepper motor a specified number of steps

Parameters

steps

number of steps to move the stepper motor

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The documentation for this class was generated from the following files:

• /var/lib/jenkins/workspace/upm-doc-stable/src/l298/l298.h
• /var/lib/jenkins/workspace/upm-doc-stable/src/l298/l298.cxx