uln200xa.h File Reference

Include dependency graph for uln200xa.h:

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;
}

Go to the source code of this file.

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

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

Here is the call graph for this function:

void uln200xa_close

(

uln200xa_context

dev

)

ULN200XA destructor

Here is the call graph for this function:

Here is the caller graph for this function:

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

Here is the caller graph for this function:

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

Here is the caller graph for this function:

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

Here is the caller graph for this function:

void uln200xa_release

(

const uln200xa_context

dev

)

Releases the stepper motor by removing power

Parameters

dev	Device context

Here is the caller graph for this function:

Typedef Documentation

typedef struct _uln200xa_context * uln200xa_context

Device context