int main( void )
{
char s[ 256 ];
int i;
uint8_t sn;
printf( "Waiting the EV3 brick online...\n" );
if ( ev3_init() < 1 ) return ( 1 );
printf( "*** ( EV3 ) Hello! ***\n" );
ev3_port_init();
printf( "Found ports:\n" );
for ( i = 0; i < DESC_LIMIT; i++ ) {
if ( ev3_port[ i ].type_inx != PORT_TYPE__NONE_ ) {
printf( " type = %s\n", ev3_port_type( ev3_port[ i ].type_inx ));
printf( " port = %s\n", ev3_port_port_name( i, s ));
if ( get_port_mode( i, s, sizeof( s ))) {
printf( " mode = %s\n", s );
}
}
}
sn = ev3_search_port( INPUT_2, EXT_PORT__NONE_ );
printf( "Port '%s'\n", ev3_port_name( INPUT_2, EXT_PORT__NONE_, 0, s ));
if ( get_port_modes( sn, s, sizeof( s ))) {
printf( "Modes: %s\n", s );
} else {
printf( "ERROR: get_port_modes()\n" );
}
ev3_uninit();
printf( "*** ( EV3 ) Bye! ***\n" );
return ( 0 );
}
int app_init( void )
{
char s[ 16 ];
if ( ev3_search_tacho_plugged_in( L_MOTOR_PORT, L_MOTOR_EXT_PORT, motor + L, 0 )) {
get_tacho_max_speed( motor[ L ], &max_speed );
/* Reset the motor */
set_tacho_command_inx( motor[ L ], TACHO_RESET );
} else {
printf( "LEFT motor (%s) is NOT found.\n", ev3_port_name( L_MOTOR_PORT, L_MOTOR_EXT_PORT, 0, s ));
/* Inoperative without left motor */
return ( 0 );
}
if ( ev3_search_tacho_plugged_in( R_MOTOR_PORT, R_MOTOR_EXT_PORT, motor + R, 0 )) {
/* Reset the motor */
set_tacho_command_inx( motor[ R ], TACHO_RESET );
} else {
printf( "RIGHT motor (%s) is NOT found.\n", ev3_port_name( R_MOTOR_PORT, R_MOTOR_EXT_PORT, 0, s ));
/* Inoperative without right motor */
return ( 0 );
}
command = moving = MOVE_NONE;
if ( ev3_search_sensor( LEGO_EV3_IR, &ir, 0 )) {
_set_mode( MODE_REMOTE );
} else {
printf( "IR sensor is NOT found.\n" );
/* Inoperative without IR sensor */
return ( 0 );
}
printf( "IR remote control:\n"
"RED UP & BLUE UP - forward\n"
"RED DOWN & BLUE DOWN - backward\n"
"RED UP | BLUE DOWN - left\n"
"RED DOWN | BLUE UP - right\n"
"To switch between IR remote control and\n"
"self-driving" );
if ( ev3_search_sensor( LEGO_EV3_TOUCH, &touch, 0 )) {
printf( " use the TOUCH sensor.\n" );
} else {
touch = DESC_LIMIT;
printf( " press UP on the EV3 brick.\n" );
}
printf( "Press BACK on the EV3 brick for EXIT...\n" );
return ( 1 );
}
char *ev3_servo_port_name( uint8_t sn, char *buf )
{
return ( ev3_port_name( ev3_servo_desc( sn )->port, ev3_servo_desc( sn )->extport, ev3_servo_desc( sn )->addr, buf ));
}
