ULN200XA Class Reference

UPM module for the ULN200XA Darlington Stepper driver. More...

Detailed Description

• ID: uln200xa
• Name: ULN200XA Stepper Driver
• Other Names: uln2001a uln2002a uln2003a uln2004a
• Category: motor
• Manufacturer: seeed
• Link: http://www.seeedstudio.com/depot/Gear-Stepper-Motor-with-Driver-p-1685.html?cPath=39_40
• Connection: gpio

This module was developed on a ULBN2003A Stepper Driver. It should support the uln2001a, 2002a, 2003a, and 2004a devices, for use in driving a unipolar stepper motor, the 28BYJ-48.

Example driving a stepper motor

  // Instantiate a Stepper motor on a ULN200XA Dual H-Bridge.

  // This was tested with the Grove Gear Stepper Motor with Driver

  // Wire the pins so that I1 is pin D8, I2 is pin D9, I3 is pin D10 and
  // I4 is pin D11
  upm::ULN200XA* uln200xa = new upm::ULN200XA(4096, 8, 9, 10, 11);

  uln200xa->setSpeed(5);
  uln200xa->setDirection(upm::ULN200XA::DIR_CW);
  cout << "Rotating 1 revolution clockwise." << endl;
  uln200xa->stepperSteps(4096);
  cout << "Sleeping for 2 seconds..." << endl;
  sleep(2);
  cout << "Rotating 1/2 revolution counter clockwise." << endl;
  uln200xa->setDirection(upm::ULN200XA::DIR_CCW);
  uln200xa->stepperSteps(2048);

  // turn off the power
  uln200xa->release();

Public Types
enum	ULN200XA_DIRECTION_T { DIR_CW = 0x01, DIR_CCW = 0x02 }

Public Member Functions
	ULN200XA (int stepsPerRev, int i1, int i2, int i3, int i4)
	~ULN200XA ()
uint32_t	getMillis ()
void	initClock ()
void	setSpeed (int speed)
void	setDirection (ULN200XA_DIRECTION_T dir)
void	stepperSteps (unsigned int steps)
void	release ()

Constructor & Destructor Documentation

ULN200XA	(	int	stepsPerRev,
		int	i1,
		int	i2,
		int	i3,
		int	i4
	)

ULN200XA constructor

Parameters

stepsPerRev	number of steps per full revolution
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

~ULN200XA

(

)

ULN200XA 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 setSpeed

(

int

speed

)

set the speed of the stepper in RPM (Rotation Per Minute

Parameters

speed

speed to set the motor to in RPM's

void setDirection

(

ULN200XA_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

void release

(

)

release the stepper, by removing power

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

• /var/lib/jenkins/workspace/upm-doc-stable/src/uln200xa/uln200xa.h
• /var/lib/jenkins/workspace/upm-doc-stable/src/uln200xa/uln200xa.cxx