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Diffstat (limited to 'peripheral/libupm/src/uln200xa/uln200xa.h')
| -rw-r--r-- | peripheral/libupm/src/uln200xa/uln200xa.h | 158 |
1 files changed, 0 insertions, 158 deletions
diff --git a/peripheral/libupm/src/uln200xa/uln200xa.h b/peripheral/libupm/src/uln200xa/uln200xa.h deleted file mode 100644 index 5a941b1..0000000 --- a/peripheral/libupm/src/uln200xa/uln200xa.h +++ /dev/null @@ -1,158 +0,0 @@ -/* - * Author: Jon Trulson <jtrulson@ics.com> - * Copyright (c) 2015 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. - */ -#pragma once - -#include <stdint.h> -#include <sys/time.h> - -#include <mraa/gpio.h> -#include <mraa/pwm.h> - -namespace upm { - - /** - * @brief ULN200XA Stepper Driver library - * @defgroup uln200xa libupm-uln200xa - * @ingroup seeed gpio motor - */ - - /** - * @library uln200xa - * @sensor uln200xa - * @comname ULN200XA Stepper Driver - * @altname ULN2001A ULN2002A ULN2003A ULN2004A - * @type motor - * @man seeed - * @web http://www.seeedstudio.com/depot/Gear-Stepper-Motor-with-Driver-p-1685.html?cPath=39_40 - * @con gpio - * - * @brief UPM module for the ULN200XA Darlington Stepper Driver - * - * This module was developed on a ULN2003A Stepper Driver. It - * should also support the ULN2001A, ULN2002A, and ULN2004A devices, when - * using to drive the 28BYJ-48 unipolar stepper motor. - * - * @image html uln200xa.jpg - * Example driving a stepper motor - * @snippet uln200xa.cxx Interesting - */ - - - class ULN200XA { - public: - - /** - * Enum to specify the direction of a motor - */ - typedef enum { - DIR_CW = 0x01, - DIR_CCW = 0x02 - } ULN200XA_DIRECTION_T; - - /** - * ULN200XA constructor - * - * @param stepsPerRev Number of steps per full revolution - * @param i1 Digital pin to use for stepper input 1 - * @param i2 Digital pin to use for stepper input 2 - * @param i3 Digital pin to use for stepper input 3 - * @param i4 Digital pin to use for stepper input 4 - */ - ULN200XA(int stepsPerRev, int i1, int i2, int i3, int i4); - - /** - * ULN200XA destructor - */ - ~ULN200XA(); - - /** - * Returns the number of milliseconds elapsed since initClock() - * was last called. - * - * @return Elapsed milliseconds - */ - uint32_t getMillis(); - - /** - * Resets the clock - * - */ - void initClock(); - - /** - * Sets the speed of the stepper motor in revolutions per minute (RPM) - * - * @param speed Speed to set the motor to, in RPM - */ - void setSpeed(int speed); - - /** - * Sets the direction of the motor, clockwise or counterclockwise - * - * @param dir Direction to set the motor to - */ - void setDirection(ULN200XA_DIRECTION_T dir); - - /** - * Steps the stepper motor a specified number of steps - * - * @param steps Number of steps to move the stepper motor - */ - void stepperSteps(unsigned int steps); - - /** - * Releases the stepper motor by removing power - * - */ - void release(); - - private: - struct timeval m_startTime; - - // stepper (4-wire) - mraa_gpio_context m_stepI1; - mraa_gpio_context m_stepI2; - mraa_gpio_context m_stepI3; - mraa_gpio_context m_stepI4; - - // steps per revolution - int m_stepsPerRev; - int m_currentStep; - uint32_t m_stepDelay; - - /** - * Steps the stepper motor one tick - * - */ - void stepperStep(); - - /** - * Defines the step direction: 1 = forward, -1 = backward - * - */ - int m_stepDirection; - }; -} - - |