int fnTurnRight(int nLeftID, int nRightID, int nSpeed)
{
if (fnStop(nLeftID) <= 0 || fnStop(nRightID) <= 0)
return -5;
if (fnForward(nLeftID, nSpeed) <= 0)
return -6;
return 1;
}
int fn2WDTurn(int nLeftID, int nRightID, int nLeftSpeed, int nRightSpeed)
{
if (fnStop(nLeftID) <= 0 || fnStop(nRightID) <= 0)
return -5;
if (nLeftSpeed > 0)
fnForward(nLeftID, nLeftSpeed);
else
fnBackward(nLeftID, -nLeftSpeed);
if (nRightSpeed > 0)
fnForward(nRightID, nRightSpeed);
else
fnBackward(nRightID, -nRightSpeed);
return 1;
}
void MainWindow::fnInitThread()
{
prs = new clsProcess();
thrd = new QThread();
dlg = new Dialog(this);
prs->moveToThread(thrd);
connect( thrd, SIGNAL(started()), prs, SLOT(doWork()) );
connect( prs, SIGNAL(workFinished()), this, SLOT(fnStop()) );
//gui update
connect( prs, SIGNAL(fnUpdateGUI(int)), this, SLOT(fnUpdateGUINow(int)) );
//automatically delete thrd and prs object when work is done:
connect( thrd, SIGNAL(finished()), prs, SLOT(deleteLater()) );
connect( thrd, SIGNAL(finished()), thrd, SLOT(deleteLater()) );
thrd->start();
dlg->show();
}
int main(int argc, char *argv[])
{
printf ("Raspberry Pi wiringPi test\n") ;
if (wiringPiSetupGpio () == -1)
return 1 ;
/*
* Enable GPIO pins
*/
printf("Initialize Motor\n");
if (fnInitializeMotor(MOTOR_A) <= 0 || fnInitializeMotor(MOTOR_B) <= 0)
{
printf("Fail to initailize motor\n");
return(-11);
}
usleep(USLEEPTIME_500ms);
printf("Stop Motor\n");
// stop all
if (fnStop(MOTOR_A) <= 0 || fnStop(MOTOR_B) <= 0)
{
printf("Fail to Stop motor\n");
return(-12);
}
usleep(USLEEPTIME_500ms);
printf("Forward Motor\n");
if (fnForward(MOTOR_A, LOWSPEED) <= 0 || fnForward(MOTOR_B, LOWSPEED) <= 0)
{
printf("Fail to forward motor\n");
return(-13);
}
usleep(USLEEPTIME);
printf("Backward Motor\n");
if (fnBackward(MOTOR_A, LOWSPEED) <= 0 || fnBackward(MOTOR_B, LOWSPEED) <= 0)
{
printf("Fail to forward motor\n");
return(-14);
}
usleep(USLEEPTIME);
printf("Turn left\n");
if (fnTurnLeft(MOTOR_A, MOTOR_B, FULLSPEED) <= 0)
{
printf("Fail to turn left\n");
return(-15);
}
usleep(USLEEPTIME);
printf("Turn Right\n");
if (fnTurnRight(MOTOR_A, MOTOR_B, FULLSPEED) <= 0)
{
printf("Fail to turn Right\n");
return(-16);
}
usleep(USLEEPTIME);
printf("2WD Turn (100, 100)\n");
if (fn2WDTurn(MOTOR_A, MOTOR_B, FULLSPEED, FULLSPEED) <= 0)
{
printf("Fail to turn left\n");
return(-16);
}
usleep(USLEEPTIME);
printf("2WD Turn (100, 0)\n");
if (fn2WDTurn(MOTOR_A, MOTOR_B, FULLSPEED, 0) <= 0)
{
printf("Fail to turn left\n");
return(-16);
}
usleep(USLEEPTIME);
printf("2WD Turn (0, 100)\n");
if (fn2WDTurn(MOTOR_A, MOTOR_B, 0, FULLSPEED) <= 0)
{
printf("Fail to turn left\n");
return(-16);
}
usleep(USLEEPTIME);
printf("2WD Turn (0, -100)\n");
if (fn2WDTurn(MOTOR_A, MOTOR_B, 0, -FULLSPEED) <= 0)
{
printf("Fail to turn left\n");
return(-16);
}
usleep(USLEEPTIME);
printf("2WD Turn (-100, 0)\n");
if (fn2WDTurn(MOTOR_A, MOTOR_B, -FULLSPEED, 0) <= 0)
{
printf("Fail to turn left\n");
return(-16);
}
usleep(USLEEPTIME);
printf("2WD Turn (-50, -50)\n");
if (fn2WDTurn(MOTOR_A, MOTOR_B, -HALFSPEED, -HALFSPEED) <= 0)
{
printf("Fail to turn left\n");
return(-16);
}
usleep(USLEEPTIME);
printf("2WD Turn (-50, 100)\n");
if (fn2WDTurn(MOTOR_A, MOTOR_B, -HALFSPEED, FULLSPEED) <= 0)
{
printf("Fail to turn left\n");
return(-16);
}
usleep(USLEEPTIME);
printf("2WD Turn (100, -50)\n");
if (fn2WDTurn(MOTOR_A, MOTOR_B, FULLSPEED, -HALFSPEED) <= 0)
{
printf("Fail to turn left\n");
return(-16);
}
usleep(USLEEPTIME);
// stop all
printf("Stop Motor\n");
if (fnStop(MOTOR_A) <= 0 || fnStop(MOTOR_B) <= 0)
{
printf("Fail to Stop motor\n");
return(-12);
}
usleep(USLEEPTIME_500ms);
/*
* Disable GPIO pins
*/
printf("DeInitialize Motor\n");
if (fnDeInitializeMotor(MOTOR_A) <= 0 || fnDeInitializeMotor(MOTOR_B) <= 0)
{
printf("Fail to Deinitailize motor\n");
return(-17);
}
printf("Done!\n");
return(1);
}
