L298 Class Reference

API for the L298 Dual H-Bridge Motor Driver. More...

Detailed Description

• ID: l298
• Name: L298 Dual H-Bridge Motor Driver
• Category: motor
• Manufacturer: seeed sparkfun
• Link: https://www.sparkfun.com/products/9670
• Connection: gpio pwm

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

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

L298 Dual H-Bridge Motor Driver image provided by SparkFun* under CC BY-NC-SA-3.0.

Example driving a DC motor

Example driving a stepper motor

Classes
class	L298_DIRECTION_T

Public Member Functions
synchronized void	delete ()
	L298 (int pwm, int dir1, int dir2)
	L298 (int stepsPerRev, int en, int i1, int i2, int i3, int i4)
long	getMillis ()
void	initClock ()
void	setPeriodMS (int ms)
void	enable (boolean enable)
void	setSpeed (int speed)
void	setDirection (L298.L298_DIRECTION_T dir)
void	stepperSteps (long 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 a 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 a 4-wire stepper motor

Parameters

stepsPerRev	Number of steps per full revolution
en	Enables the 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

Member Function Documentation

void enable

(

boolean

enable

)

Enables the PWM output for a motor

Parameters

enable

Enables the PWM output if true, disables if false

long getMillis

(

)

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

Returns

Elapsed milliseconds

void initClock

(

)

Resets the clock

void setDirection

(

L298.L298_DIRECTION_T

dir

)

Sets the direction of the motor, clockwise or counterclockwise

Parameters

dir	Direction to set the motor to

void setPeriodMS

(

int

ms

)

Sets the period in milliseconds

Parameters

ms	Period in milliseconds

void setSpeed

(

int

speed

)

Sets the speed of a DC or stepper 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 stepperSteps

(

long

steps

)

Steps 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 file:

• /var/lib/jenkins/workspace/upm-doc-stable/build-33/src/l298/L298.java