int main(void)
{
smart_car_set(30, 0);
return 0;
}
int main(void)
{
smart_car_set(30, 0); //speed=30 Angel=0
return 0;
}
int main(void)
{
//int fd;
char *buf="front!";
//fd = open("test.txt",O_CREAT,0);
// write(fd,buf,7);
//printf("front!\n");
smart_car_set(0, 50); //speed=30 Angel=0
// close(fd);
return 0;
}
int hrobot_tcp_receive(TCP_CTRL_FRAME *frame, uint8_t *buf)
{
int n,i;
int fd;
int16_t angle,speed;
char cmdbuf[5]="0000";
while(1){
angle=0x0000;
speed=0x0000;
memset(frame,0,sizeof(TCP_CTRL_FRAME));
memset(buf,0,HROBOT_TCP_MAX_DATA_LENGTH);
if ((n = recv(clfd,frame, HROBOT_TCP_CTRL_FRAME_SIZE, 0)) > 0)
{
frame->cmd = ntohs(frame->cmd);
frame->length = ntohs(frame->length);
syslog(LOG_ERR,"frame_CTR:recv %d data",n);
syslog(LOG_ERR,"cmd:%d, length:%d",frame->cmd, frame->length);
/* cmdbuf[0]='0'+frame->cmd/10;
cmdbuf[1]='0'+frame->cmd%10;
cmdbuf[2]='0'+frame->length/10;
cmdbuf[3]='0'+frame->length%10;
cmdbuf[4]='Z';
if ((fd=open("/home/boat/state_tcp.txt",O_WRONLY|O_CREAT|O_APPEND,S_IRUSR | S_IWUSR | S_IRGRP | S_IROTH))<0)
syslog(LOG_ERR,"fd=%d open error \n",fd);
if (write(fd,&cmdbuf,5)<0)
syslog(LOG_ERR,"write error \n");
close(fd);
*/
}
else{
return 0;
}
if ((n = recv(clfd, buf, frame->length, 0)) > 0)
{
syslog(LOG_ERR,"frame_DATA:recv %d data",n);
for(i=0;i<n;++i)
syslog(LOG_DEBUG,"recv data:%x",buf[i]);
angle=(buf[1]<<8)|buf[0];
speed=(buf[3]<<8)|buf[2];
syslog(LOG_DEBUG,"angle=%d,speed=%d",angle,speed);
smart_car_set(speed,angle);
}
else{
return 0;
}
}
}
int main(void)
{
smart_car_set(90, 30);
return 0;
}
int main(void)
{
smart_car_set(0, -60);
return 0;
}