uln200xa.h File Reference

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API Description

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2016 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 <stdio.h>

#include <upm_utilities.h>
#include "uln200xa.h"

int main ()
{

    // Instantiate a Stepper motor on a ULN200XA Darlington controller.

    // 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
    uln200xa_context motor = uln200xa_init(4096, 8, 9, 10, 11);

    if (!motor)
    {
        printf("uln200xa_init() failed\n");
        return 1;
    }

    uln200xa_set_speed(motor, 5);
    uln200xa_set_direction(motor, ULN200XA_DIR_CW);
    printf("Rotating 1 revolution clockwise.\n");
    uln200xa_stepper_steps(motor, 4096);

    printf("Sleeping for 2 seconds...\n");
    upm_delay(2);

    printf("Rotating 1/2 revolution counter clockwise.\n");
    uln200xa_set_direction(motor, ULN200XA_DIR_CCW);
    uln200xa_stepper_steps(motor, 2048);

    // turn off the power
    uln200xa_release(motor);

    printf("Exiting...\n");

    uln200xa_close(motor);
  return 0;
}

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Data Structures
struct	_uln200xa_context

Functions
uln200xa_context	uln200xa_init (int stepsPerRev, unsigned int i1, unsigned int i2, unsigned int i3, unsigned int i4)
void	uln200xa_close (uln200xa_context dev)
void	uln200xa_set_speed (const uln200xa_context dev, unsigned int speed)
void	uln200xa_set_direction (const uln200xa_context dev, ULN200XA_DIRECTION_T dir)
void	uln200xa_stepper_steps (const uln200xa_context dev, unsigned int steps)
void	uln200xa_release (const uln200xa_context dev)

Typedefs
typedef struct _uln200xa_context *	uln200xa_context

Enumerations
enum	ULN200XA_DIRECTION_T { ULN200XA_DIR_CW = 0x01, ULN200XA_DIR_CCW = 0x02 }

Function Documentation

uln200xa_context uln200xa_init	(	int	stepsPerRev,
		unsigned int	i1,
		unsigned int	i2,
		unsigned int	i3,
		unsigned 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

Returns

Device context

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void uln200xa_close

(

uln200xa_context

dev

)

ULN200XA destructor

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void uln200xa_set_speed	(	const uln200xa_context	dev,
		unsigned int	speed
	)

Sets the speed of the stepper motor in revolutions per minute (RPM)

Parameters

dev	Device context
speed	Speed to set the motor to, in RPM

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void uln200xa_set_direction	(	const uln200xa_context	dev,
		ULN200XA_DIRECTION_T	dir
	)

Sets the direction of the motor, clockwise or counterclockwise

Parameters

dev	Device context
dir	Direction to set the motor to

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void uln200xa_stepper_steps	(	const uln200xa_context	dev,
		unsigned int	steps
	)

Steps the stepper motor a specified number of steps

Parameters

dev	Device context
steps	Number of steps to move the stepper motor

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void uln200xa_release

(

const uln200xa_context

dev

)

Releases the stepper motor by removing power

Parameters

dev	Device context

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Typedef Documentation

typedef struct _uln200xa_context * uln200xa_context

Device context

Enumeration Type Documentation

enum ULN200XA_DIRECTION_T

Enum to specify the direction of a motor