ER ev3_motor_config(motor_port_t port, motor_type_t type) {
ER ercd;
CHECK_PORT(port);
CHECK_MOTOR_TYPE(type);
// lazy_initialize();
mts[port] = type;
/*
* Set Motor Type
*/
char buf[TNUM_MOTOR_PORT + 1];
buf[0] = opOUTPUT_SET_TYPE;
for (int i = EV3_PORT_A; i < TNUM_MOTOR_PORT; ++i)
buf[i + 1] = getDevType(mts[i]);
motor_command(buf, sizeof(buf));
/*
* Set initial state to IDLE
*/
buf[0] = opOUTPUT_STOP;
buf[1] = 1 << port;
buf[2] = 0;
motor_command(buf, sizeof(buf));
ercd = E_OK;
error_exit:
return ercd;
}
// A simple tester for testing operation of toggling characters via OpenCL
int main(int argc, char *argv[]) {
if (argc < 4) {
std::cout << "Specify [CPU|GPU|ACC] <InputBMP> <OutputBMP> <theta_radians>\n";
return 1;
}
// Load source image from the given file
BitmapImage srcImg;
srcImg.load(argv[2]);
// Create the OpenCL command queue for a given device
ClCmdQueue queue(getDevType(argv[1]));
// Create a kernel and functor using OpenCL kernel code from a file.
cl::Kernel kernel = queue.loadKernel("batesokr_rotate.cl", "img_rotate");
cl::NDRange globalRange(srcImg.getWidth(), srcImg.getHeight());
cl::KernelFunctor vrotate(kernel, queue.getQueue(), cl::NullRange,
globalRange, cl::NullRange);
BitmapImage outImg = clRotate(queue, vrotate, srcImg, atof(argv[4])*(M_PI/180.0f));
outImg.write(argv[3]);
return 0;
}
ER ev3_motors_init(motor_type_t typeA, motor_type_t typeB, motor_type_t typeC, motor_type_t typeD) {
ER ercd;
CHECK_MOTOR_TYPE(typeA);
CHECK_MOTOR_TYPE(typeB);
CHECK_MOTOR_TYPE(typeC);
CHECK_MOTOR_TYPE(typeD);
lazy_initialize();
mts[EV3_PORT_A] = typeA;
mts[EV3_PORT_B] = typeB;
mts[EV3_PORT_C] = typeC;
mts[EV3_PORT_D] = typeD;
/**
* Set device types
*/
char buf[TNUM_MOTOR_PORT + 1];
buf[0] = opOUTPUT_SET_TYPE;
for (int i = EV3_PORT_A; i < TNUM_MOTOR_PORT; ++i)
buf[i + 1] = getDevType(mts[i]);
ercd = motor_command(buf, sizeof(buf));
assert(ercd == E_OK);
/**
* Set initial state to IDLE
*/
buf[0] = opOUTPUT_STOP;
buf[1] = 0xF;
buf[2] = 0;
ercd = motor_command(buf, sizeof(buf));
assert(ercd == E_OK);
ercd = E_OK;
error_exit:
return ercd;
}
