int main(void)
{
char dutyCycle;
UART uart;
PWM pwm;
uart.init();
uart.println("*** QC-BLCD OS Startup Sequence ***");
uart.println(" > UART initialized");
pwm.init();
uart.println(" > PWM initialized");
uart.println("Startup Sequence successfull!");
uart.println("Main program starts now");
dutyCycle=0;
while(42) {
/*itoa(dutyCycle,msg,10);
println(msg);*/
pwm.setDutyCycle(dutyCycle);
dutyCycle++;
_delay_ms(200);
}
}
int main()
{
PWM pwm;
LeftMotor left;
RightMotor right;
IM::init();
log::emit() << "Tick-Freq: " << PWM::TickFrequency::numerator << " / "
<< PWM::TickFrequency::denominator << log::endl;
log::emit() << "PWM-Freq: " << PWM::DutyFrequency::numerator << " / "
<< PWM::DutyFrequency::denominator << log::endl;
pwm.start();
left.state(LeftMotor::forward);
right.state(RightMotor::forward);
pwm.value<PWM::channelA>(512);
pwm.value<PWM::channelB>(256);
while(true)
Morpheus::sleep(Morpheus::SleepModes::idle);
return 0;
}
void LIGHT::light_init()
{
//pwm initialized outside
//PWM head(PWM::pwm1, 0); //PWM for head lights
//PWM tail(PWM::pwm2, 0); //PWM for tail lights
hl_mode=OFF;
data_rcv.headlights=true;
head.set(0);
tail.set(0);
}
// FIXME: parity
void tape::write(uint8_t b) {
#if defined(PWM_DUTY)
pwm.set_duty(PWM_DUTY);
#endif
write_bit(0);
for (int i = 0; i < _data_bits; i++) {
write_bit(b & 1);
b >>= 1;
}
write_bit(1);
if (_stop_bits == 2)
write_bit(1);
pwm.set_duty(0);
}
void setup()
{
ebox_init();
uart1.begin(9600);
PB8.mode(OUTPUT_PP);
p = 1;
ic.begin(p);//初始化输入捕获参数，p分频
ic.attch_ic_interrupt(mesure_frq);//绑定捕获中断事件函数
ic.attch_update_interrupt(update_event);
pwm1.begin(1,500);
pwm1.set_oc_polarity(1);
}
int main(void)
{
NVIC_Excitation();
pwm.init(&pwm);
adcdim.init(&adcdim);
// dacout.Output1 = 1000;
// dacout.init(&dacout);
spiout.init(&spiout);
for(;;);
}
void PwmEnable15(void)
{
pwm.Enable(7);
}
void PwmEnable13(void)
{
pwm.Enable(5);
}
void PwmEnable12(void)
{
pwm.Enable(4);
}
void PwmSetPolarity16(BOOL Polarity)
{
pwm.SetPolarity(8,Polarity);
}
void PwmSetPolarity14(BOOL Polarity)
{
pwm.SetPolarity(6,Polarity);
}
void PwmSetPolarity12(BOOL Polarity)
{
pwm.SetPolarity(4,Polarity);
}
void PwmSetDuty13(U16 Duty)
{
pwm.SetDuty(5,Duty);
}
void PwmSetDuty12(U16 Duty)
{
pwm.SetDuty(4,Duty);
}
void PwmSetDuty6(U16 Duty)
{
pwm.SetDuty(3,Duty);
}
void PwmSetPolarity5(BOOL Polarity)
{
pwm.SetPolarity(2,Polarity);
}
void PwmSetPolarity6(BOOL Polarity)
{
pwm.SetPolarity(3,Polarity);
}
void PwmSetDuty14(U16 Duty)
{
pwm.SetDuty(6,Duty);
}
void PwmSetPolarity13(BOOL Polarity)
{
pwm.SetPolarity(5,Polarity);
}
void PwmSetDuty15(U16 Duty)
{
pwm.SetDuty(7,Duty);
}
void PwmSetPolarity15(BOOL Polarity)
{
pwm.SetPolarity(7,Polarity);
}
void PwmSetDuty16(U16 Duty)
{
pwm.SetDuty(8,Duty);
}
void PwmSetPolarity21(BOOL Polarity)
{
pwm.SetPolarity(9,Polarity);
}
void PwmSetDuty21(U16 Duty)
{
pwm.SetDuty(9,Duty);
}
void PwmSetPolarity26(BOOL Polarity)
{
pwm.SetPolarity(10,Polarity);
}
void PwmSetDuty26(U16 Duty)
{
pwm.SetDuty(10,Duty);
}
void PwmEnable14(void)
{
pwm.Enable(6);
}
void PwmSetPolarity0(BOOL Polarity)
{
pwm.SetPolarity(0,Polarity);
}
int main()
{
int breakflag=0;
float M = 1.0;
short m = 0;
short cnt = 0;
PWM pwm;
RGBled led;
js_event js;
if(!led.initialize()) return EXIT_FAILURE;
//-------- PS3 Controller setting --------
int joy_fd(-1), num_of_axis(0), num_of_buttons(0);
char name_of_joystick[80];
vector<char> joy_button;
vector<int> joy_axis;
if((joy_fd = open(JOY_DEV, O_RDONLY)) < 0) {
printf("Failed to open %s", JOY_DEV);
cerr << "Failed to open " << JOY_DEV << endl;
return -1;
}
ioctl(joy_fd, JSIOCGAXES, &num_of_axis);
ioctl(joy_fd, JSIOCGBUTTONS, &num_of_buttons);
ioctl(joy_fd, JSIOCGNAME(80), &name_of_joystick);
joy_button.resize(num_of_buttons, 0);
joy_axis.resize(num_of_axis, 0);
printf("Joystick: %s axis: %d buttons: %d\n", name_of_joystick, num_of_axis, num_of_buttons);
fcntl(joy_fd, F_SETFL, O_NONBLOCK); // using non-blocking mode
for ( int i = 0 ; i < 4 ; i++ ) {
if ( !pwm.init(i) ) {
fprintf(stderr, "Output Enable not set. Are you root?\n");
return 0;
}
pwm.enable(i);
pwm.set_period(i, 500);
}
printf("\nStart thrust test !\n");
///// Clock setting
struct timeval tval;
unsigned long now_time,past_time,interval;
gettimeofday(&tval,NULL);
now_time=1000000 * tval.tv_sec + tval.tv_usec;
past_time = now_time;
interval = now_time - past_time;
printf("set motor 'RIGHT'\n");
//========================== Main Loop ==============================
while(true) {
led.setColor(Colors::Red);
while(true) {
gettimeofday(&tval,NULL);
past_time = now_time;
now_time=1000000 * tval.tv_sec + tval.tv_usec;
interval = now_time - past_time;
//js_event js;
read(joy_fd, &js, sizeof(js_event));
switch(js.type & ~JS_EVENT_INIT) {
case JS_EVENT_AXIS:
joy_axis[(int)js.number] = js.value;
break;
case JS_EVENT_BUTTON:
joy_button[(int)js.number] = js.value;
//printf("%5d\n %5d\n",(int)js.number,js.value);
break;
}
if (joy_button[12]==1){
if (joy_button[4]==1){
M = M + 0.1;
printf ( "PWM UP : %f\n" ,M );
}
if (joy_button[6]==1){
M = M - 0.1;
printf ( "PWM down : %f\n" ,M );
}
}
if (joy_button[13]==1){
if (joy_button[4]==1){
M = M + 0.001;
printf ( "PWM UP : %f\n" ,M );
}
if (joy_button[6]==1){
M = M - 0.001;
printf ( "PWM down : %f\n" ,M );
}
}
if (joy_button[14]==1){
if (joy_button[4]==1){
M = M + 0.0001;
printf ( "PWM UP : %f\n" ,M );
}
if (joy_button[6]==1){
M = M - 0.0001;
printf ( "PWM down : %f\n" ,M );
}
}
if (joy_button[15]==1){
if (joy_button[4]==1){
M = M + 0.00001;
printf ( "PWM UP : %f\n" ,M );
}
if (joy_button[6]==1){
M = M - 0.0001;
printf ( "PWM down : %f\n" ,M );
}
}
if (joy_button[11]==1){
cnt++;
if (cnt>30){
M = 2.0;
printf( "Set PWM MAX!\n" );
cnt = 0;
}
}
if (joy_button[10]==1){
cnt++;
if (cnt>30){
M = 1.0;
printf( "Set PWM MIN!\n" );
cnt = 0;
}
}
if ( M > 2.0 ) M = 2.0;
if ( M < 1.0 ) M = 1.0;
pwm.set_duty_cycle(m, M);
if (joy_button[3]==1){
break;
}
do{
gettimeofday(&tval,NULL);
interval=1000000 * tval.tv_sec + tval.tv_usec - now_time;
}while(interval<2000);
}
led.setColor(Colors::Blue);
while (joy_button[3]==1){
read(joy_fd, &js, sizeof(js_event));
switch(js.type & ~JS_EVENT_INIT) {
case JS_EVENT_AXIS:
joy_axis[(int)js.number] = js.value;
break;
case JS_EVENT_BUTTON:
joy_button[(int)js.number] = js.value;
//printf("%5d\n %5d\n",(int)js.number,js.value);
break;
}
}
while (true){
read(joy_fd, &js, sizeof(js_event));
switch(js.type & ~JS_EVENT_INIT) {
case JS_EVENT_AXIS:
joy_axis[(int)js.number] = js.value;
break;
case JS_EVENT_BUTTON:
joy_button[(int)js.number] = js.value;
//printf("%5d\n %5d\n",(int)js.number,js.value);
break;
}
M = 1.0;
if (joy_button[4]==1){
m = 2;
printf("set motor 'FRONT'\n");
}
if (joy_button[5]==1){
m = 0;
printf("set motor 'RIGHT'\n");
}
if (joy_button[6]==1){
m = 3;
printf("set motor 'REAR'\n");
}
if (joy_button[7]==1){
m = 1;
printf("set motor 'LEFT'\n");
}
if (joy_button[3]==1){
break;
}
if (joy_button[0]==1){
breakflag=1;
break;
}
else breakflag = 0;
}
if (breakflag == 1)break;
else breakflag = 0;
while (joy_button[3]==1){
read(joy_fd, &js, sizeof(js_event));
switch(js.type & ~JS_EVENT_INIT) {
case JS_EVENT_AXIS:
joy_axis[(int)js.number] = js.value;
break;
case JS_EVENT_BUTTON:
joy_button[(int)js.number] = js.value;
//printf("%5d\n %5d\n",(int)js.number,js.value);
break;
}
}
}
led.setColor(Colors::Green);
return 0;
}
void PwmSetPolarity1(BOOL Polarity)
{
pwm.SetPolarity(1,Polarity);
}
