int main(void)
{
int data;
if(wiringPiSetup () == -1)
return 1;
pinMode(M1_A, OUTPUT);
pinMode(M1_B, OUTPUT);
pinMode(M2_A, OUTPUT);
pinMode(M2_B, OUTPUT);
while(1)
{
printf("Press Key, you can I:Forward, J:Left, L:Right, ,:Rear, K:Stop\n");
scanf("%c", &data);
if(data == ',')
{
printf("Rear\n");
runMotor( Motor1, Dir_Forward );
runMotor( Motor2, Dir_Forward );
}
else if(data == 'i' || data == 'I')
{
printf("Front\n");
runMotor( Motor1, Dir_Backward );
runMotor( Motor2, Dir_Backward );
}
else if(data == 'j' || data == 'J')
{
printf("Left\n");
runMotor( Motor1, Dir_Forward );
}
else if(data == 'l' || data == 'L')
{
printf("Right\n");
runMotor( Motor2, Dir_Forward );
}
else if(data == 'k' || data == 'K')
{
printf("Stoped\n");
runMotor( Motor1, Dir_STOP );
runMotor( Motor2, Dir_STOP );
}
}
return 0;
}
void main( void ) {
SPI1CR1=0x00;
//initialize LCD, RTI,KISR,pac_isr,and ATDo interrupt
Lcd2PP_Init();
runKeypad();
runMotor();
runTemperature();
runRTI();
//activate interrupt
INTR_ON();
//infinite loop to run program forever
for (;;){
}//end for loop
}//end main
int main(){
printf("starting\n");
//Setting up library
wiringPiSetup();
//Initializing motor hat
word i2c = init();
//Sets the steering speed to fast
setSpeed(i2c, 4, 250);
word condition = 1;
//Declaring sockets
int server_sock_fd = 0, client_sock_fd = 0;
struct sockaddr_in server_address;
int iSetOption = 1;
//Creating main socket wth ability to reuse port address
server_sock_fd = socket(AF_INET, SOCK_STREAM, 0);
setsockopt(server_sock_fd, SOL_SOCKET, SO_REUSEADDR, (char*)&iSetOption, sizeof(iSetOption));
if (server_sock_fd == -1) {
perror("socket");
return EXIT_FAILURE;
}
//Setting server address to all 0's so that it is clean
memset(&server_address, '0', sizeof(server_address));
//Setting server address to needed values such as port number
server_address.sin_family = AF_INET;
server_address.sin_addr.s_addr = htonl(INADDR_ANY);
server_address.sin_port = htons(51717);
printf("socket made\n");
//Binding socket to port
if (-1 == bind(server_sock_fd, (struct sockaddr*)&server_address, sizeof(server_address))) {
perror("bind");
return EXIT_FAILURE;
}
printf("socket bind\n");
//Listening for connecton from android
if (-1 == listen(server_sock_fd, 1)) {
perror("listen");
printf("listen error\n");
return EXIT_FAILURE;
}
//Declaring varibale to store recived data
char data;
//Label for goto statement
reconnect:
//Setting forward/backward speed to slow to match android default
setSpeed(i2c, 2, 150);
//Accepting connection from android
client_sock_fd = accept(server_sock_fd, (struct sockaddr*)NULL, NULL);
printf("connected\n");
//Entering loop to receive and process data from android
while(condition == 1) {
//Declaring variables to handle connecton loss
int error = 0;
socklen_t len = sizeof(error);
int retval = getsockopt(client_sock_fd, SOL_SOCKET, SO_ERROR, &error, &len);
//If connection is lost redirect to listen for a new connection
if (retval != 0 || error != 0) {
goto reconnect;
}
//Receive data from android
recv(client_sock_fd, &data, 1, 0);
//Parse data from android to integer
int dataPass = data - '0';
//Process data from android
processData(i2c, dataPass);
printf("%c\n", data);
//If android app is closed, redrect to listen for new connection and release motors
if (dataPass == 8) {
close(client_sock_fd);
runMotor(i2c, 1, MOTOR_RELEASE);
runMotor(i2c, 4, MOTOR_RELEASE);
goto reconnect;
}
}
return 0;
}
void processData(word i2c, int data){
word motor;
//Controls motor based on data received from android
switch(data){
case 1:
motor = 1;
runMotor(i2c, motor, MOTOR_FORWARD);
break;
case 2:
motor = 1;
//TURN OFF MOTOR
runMotor(i2c, motor, MOTOR_RELEASE);
break;
case 3:
motor = 1;
runMotor(i2c, motor, MOTOR_BACK);
break;
case 4:
motor = 4;
runMotor(i2c, motor, MOTOR_FORWARD);
break;
case 5:
motor = 4;
//TURN OFF MOTOR
runMotor(i2c, motor, MOTOR_RELEASE);
break;
case 6:
motor = 4;
runMotor(i2c, motor, MOTOR_BACK);
break;
//Sets speed of forward and backward motion
case 7:
motor = 1;
//FAST SPEED
setSpeed(i2c, motor, 250);
break;
case 9:
motor = 1;
//MEDIM SPEED
setSpeed(i2c, motor, 200);
break;
case 0:
motor = 1;
//SLOW SPEED
setSpeed(i2c ,motor, 150);
break;
//Releases motors if invalid data is received
default:
runMotor(i2c, 1, MOTOR_RELEASE);
runMotor(i2c, 4, MOTOR_RELEASE);
break;
}
}