int main(void)
{
//initialise pigio and pins
if (gpioInitialise() < 0 )
{
printf("pigpio initialise failed\n");
return 1;
}
gpioSetMode(BLUE, PI_OUTPUT);
gpioSetMode(RED, PI_OUTPUT);
gpioSetMode(GREEN, PI_OUTPUT);
gpioSetPWMrange(BLUE, 200);
gpioSetPWMrange(RED, 200);
gpioSetPWMrange(GREEN, 200);
pthread_t pth; // this is our thread identifier
pthread_create(&pth,NULL,threadFunc,NULL);
int i;
while(1) {
if(MODE != 0) {
for (i=0; i<201; i++) {
if (MODE == 1) {
sLED(0,0,i,1);
usleep(20000);
}
else if(MODE == 2) {
sLED(i,i/2,i/4,1);
usleep(20000);
}
else if(MODE == 0) {
break;
}
}
sleep(1);
for(i=200; i>=0; i--) {
if(MODE == 1) {
sLED(0,0,i,1);
usleep(20000);
}
else if(MODE == 2) {
sLED(i,i/2,i/4,1);
usleep(20000);
}
else if(MODE == 0) {
break;
}
}
}
}
pthread_join(pth,NULL);
return 1;
}
void ESCController::initialize(int controlled_esc[4], int ESCSanity[4], int frequency, int min, int max)
{
for (int i=0;i<4;i++) {
ESC[i] = controlled_esc[i];
gpioSetPWMfrequency(ESC[i], frequency);
gpioSetPWMrange(ESC[i], 1000000/frequency);
sanity[i] = ESCSanity[i];
}
outMin = min;
outMax = max;
}
void mygpioSetup() {
if (gpioGetMode(18) != PI_OUTPUT) {
(gpioSetMode(18, PI_OUTPUT));
}
if (gpioGetMode(17) != PI_OUTPUT) {
(gpioSetMode(17, PI_OUTPUT));
}
if (gpioGetPWMrange(18) != 2000) {
(gpioSetPWMrange(18, 2000));
}
if (gpioGetPWMrange(17) != 2000) {
(gpioSetPWMrange(17, 2000));
}
if (gpioGetPWMfrequency(18) != 8000) {
(gpioSetPWMfrequency(18, 8000));
}
if (gpioGetPWMfrequency(17) != 8000) {
(gpioSetPWMfrequency(17, 8000));
}
}
/*
* Class: com_diozero_pigpioj_PigpioGpio
* Method: setPWMRange
* Signature: (II)I
*/
JNIEXPORT jint JNICALL Java_com_diozero_pigpioj_PigpioGpio_setPWMRange
(JNIEnv* env, jclass clz, jint gpio, jint range) {
return gpioSetPWMrange(gpio, range);
}
