int open_serial(char *devName)
{
char *serDev;
if (strstr(devName, "TTYB") != NULL)
serDev = "/dev/term/b";
else if (strstr(devName, "COM1") != NULL)
serDev = "/dev/ttyS0";
else
serDev = "/dev/term/a";
if (strstr(devName, "SMS_")) {
return (initPort(serDev, SMS_SERIAL_PORT));
}
else if (strstr(devName, "ASM_")) {
return (initPort(serDev, SMS_SERIAL_PORT));
}
else if (strstr(devName, "NMS")) {
return (initPort(serDev, SMS_SERIAL_PORT));
}
else if (strstr(devName, "GIL")) {
return (initPort(serDev, GILSON215_SERIAL_PORT));
}
else {
return (initPort(serDev, SMS_SERIAL_PORT));
}
}
void SerialPortComponent::dataChanged()
{
#if 0
QString baudString = dataString("baudRate");
unsigned baudRate = 0;
if ( baudString == "B0" )
baudRate = B0;
else if ( baudString == "B50" )
baudRate = B50;
else if ( baudString == "B75" )
baudRate = B75;
else if ( baudString == "B110" )
baudRate = B110;
else if ( baudString == "B134" )
baudRate = B134;
else if ( baudString == "B150" )
baudRate = B150;
else if ( baudString == "B200" )
baudRate = B200;
else if ( baudString == "B300" )
baudRate = B300;
else if ( baudString == "B600" )
baudRate = B600;
else if ( baudString == "B1200" )
baudRate = B1200;
else if ( baudString == "B1800" )
baudRate = B1800;
else if ( baudString == "B2400" )
baudRate = B2400;
else if ( baudString == "B4800" )
baudRate = B4800;
else if ( baudString == "B9600" )
baudRate = B9600;
else if ( baudString == "B19200" )
baudRate = B19200;
else if ( baudString == "B38400" )
baudRate = B38400;
else
{
kError() << k_funcinfo << "Unknown baud rate = \""<<baudString<<"\""<<endl;
return;
}
initPort( dataString("port"), baudRate );
#endif
initPort( dataString("port"), B200 );
}
int main(void)
{
initPort();
initTimers();
static update = 0;
while(1)
{
while (~PINC & 1) // Run while bit 0 in PINC is 0 (Invert PINC then AND with 1, this will return 1 if PINC0 was originally 0) (Check if button is pressed)
{
if (!update) {
cli(); // Disable global interrupts
PORTA = 0xFF;
PORTB = 0xFF;
update = 1; // Has been updated
}
}
// If button is not pressed, continue blinking lights
if (update)
{
update = 0;
sei(); // Enable global interrupts
}
if (counter_A > 6) counter_A = 0;
PORTA = (1 << counter_A++); // Bitshifting shenanigans, shifts one up. Ex: 0b00000010 -> 0b00000100
if (counter_B > 6) counter_B = 0;
PORTB = (1 << counter_B++); // Bitshifting shenanigans, shifts one up. Ex: 0b00000010 -> 0b00000100
};
return 0;
}
RotaryEncoder::RotaryEncoder( EncoderPort port, int buttonPin ) {
_port = port;
_buttonPin = buttonPin;
pinMode( buttonPin, INPUT );
digitalWrite( buttonPin, HIGH );
initPort();
}
/**********************************
* main,
***********************************
* Remember to keep this short
**********************************/
int main(void)
{
node head; // make the head node for the dynamic list start point
head.prior=NULL;
head.next=NULL;
head_dyn_list=&head; // set the global head_dyn_list to point to start node
point_dyn_list=head_dyn_list; //set point_dyn_list to point to start node
initPort();
while((0 == ((PIND) & (1 << 0))) ); // wait for PIND0 to go high
initTimer3(); // Init timer3 this is used for emulating a test run.
initTimer(); // timer1 is used for the second counter.
while((1==((PIND) & (1 << 0)))) // run until PIND0 go low
{
if(nyEvent.nyloper == 1) // this variable is used to signal that a new event has happened
{
handelNyEvent(&nyEvent);
nyEvent.nyloper = 0; // reset the new event variable
}
}
stopTimer_1();
soterEtterNummer(); // TODO this is the function that you need to write!!
return 0;
}
/* main function */
int main() {
OSCSetPBDIV (OSC_PB_DIV_1); //configure PBDIV so PBCLK = SYSCLK
initIntGlobal();
initPort();
initCN();
initPWM();
while (1);
}
RobotControl::RobotControl():
port("COM1"), is_time_synced(false),
is_recording(false), posTimer(this), moveTimer(this)
{
connect(&posTimer, SIGNAL(timeout()), this, SLOT(writePos()));
connect(&moveTimer, SIGNAL(timeout()), this, SLOT(moveTimeout()));
initPort();
}
bool clsYarp::initPortSend(char* portSend,char *portRcv, char* protocol)
{
if(!initPort(portSend))
{
return false;
}
return connectPort(portSend,portRcv,protocol);
}
/**
* \brief main loop
* Within the main loop the LED port(s) are initialized and toggled, using mylib. The
* main loop never ends until switching off the AVR itself.
*/
int main(void)
{
initPort();
while(1)
{
togglePin();
}
}
bool clsYarp::initPortRcv(char* portRcv,char *portSend, char* protocol)
{
if(!initPort(portRcv))
{
WARNMSG(("Failed to initPort %s",portRcv));
return false;
}
return connectPort(portSend,portRcv,protocol);
}
void TEDisplayBase::setPortNumberAndInit(int pn)
{
if (m_pWriter)
((SlowWriterThread*)m_pWriter)->stop();
setPortNumber(pn);
initPort();
if (m_pWriter)
{
((SlowWriterThread*)m_pWriter)->setPort(port());
((SlowWriterThread*)m_pWriter)->start();
}
};
int main() {
char clkwise=1;
initPort();
while(1) {
int i=0,j=0;
if (clkwise) {
for (i=0;i<=7;i++)
{
for (j=0;j<5;j++)
{
PORTDCLR = 0x0002;
PORTDSET = 0x0010;
DelayMotor();
PORTDCLR = 0x0010;
PORTDSET = 0x0008;
DelayMotor();
PORTDCLR = 0x0008;
PORTDSET = 0x0004;
DelayMotor();
PORTDCLR = 0x0004;
PORTDSET = 0x0002;
DelayMotor();
}
DelayMsec(30);
}
}
else {
DelayMsec(30);
for (i=0;i<=7;i++)
{
for (j=0;j<5;j++)
{
PORTDCLR = 0x0010;
PORTDSET = 0x0002;
DelayMotor();
PORTDCLR = 0x0002;
PORTDSET = 0x0004;
DelayMotor();
PORTDCLR = 0x0004;
PORTDSET = 0x0008;
DelayMotor();
PORTDCLR = 0x0008;
PORTDSET = 0x0010;
DelayMotor();
}
DelayMsec(30);
}
}
}
}
/*!
* TEDisplayEpson is a driver class for 20x2 PTC compatible customer displays.
* TEDisplayEpson(int pn) - class constructor.
* pn is a com port number.
*/
TEDisplayEpson::TEDisplayEpson(int pn): TEDisplayBase(pn),
updInterval(100),bBrightnessPending(false),bLoadCharsPending(false),
bInitPending(true)
{
setName("TEDisplayEpson");
iInitCounter=200;
iBrightness=255;
m_baudRate=9600;
initPort();
QTimer::singleShot(updInterval,this,SLOT(onTimer()));
m_ee.addProcBinding3<TEDisplayEpson,const QString &,const QString &,const QString &>(
this,&TEDisplayEpson::showText,"showText");
};
Dialog::Dialog(QWidget *parent) :
QDialog(parent),
ui(new Ui::Dialog)
{
ui->setupUi(this);
timer=new QTimer(this);
timeout=new QTimer(this);
connect(timer,&QTimer::timeout,this,&Dialog::getVoltage);
connect(timeout,&QTimer::timeout,this,&Dialog::handleTimeout);
count=0;
initPort();
initData();
initConnections();
initPlotStyle();
timer->start(1000);
}
main(void) {
// Initialisierung der Port Register
initPort();
// Dco Taktquelle aktivieren mit 7.3728MHz
DCO ();
// UART-RS232 mit 115.2kBit/s initialisieren
initUART1();
while(1) {
project();
}
}
/** Codel startAcquire of activity Acquire.
*
* Triggered by bass_start.
* Yields to bass_exec, bass_ether.
* Throws bass_e_nomem, bass_e_device, bass_e_hwparams,
* bass_e_swparams.
*/
genom_event
startAcquire(const char *device, uint32_t sampleRate,
uint32_t nFramesPerChunk, uint32_t nChunksOnPort,
bass_ids *ids, const bass_Audio *Audio,
genom_context self)
{
int err;
/* Prepare the Port */
if ((err = initPort(Audio, sampleRate, nFramesPerChunk, nChunksOnPort,
self)) < 0)
return_bass_exception(err);
/* Start the capture */
initCapture(&(ids->cap), device, sampleRate, nFramesPerChunk);
if ((err = createCapture(ids->cap)) < 0) {
endCapture(&(ids->cap));
return_bass_exception(err);
}
return bass_exec;
}
main (int argc, char *argv[])
{
int done;
int status;
char buffer[256];
char responce[256];
char *bptr;
char *cmdline;
int buflen = 1;
int firstentry = 1;
int chars;
char cmdchar;
if (argc < 2)
{
fprintf(stdout,"usage: %s <devicename> (i.e. /dev/term/b)\n", argv[0]);
exit(1);
}
verbose = 0;
/* initialize Serial port to Gilson */
Portfd = initPort(argv[1],PATIENT_TABLE);
/* need this info for isocenter calcualtions */
SoftLimits();
if (argc > 2)
{
cmdchar = argv[2][0];
/* printf("2nd arg: '%s'\n",argv[2]); */
if (cmdchar != '-')
{
status = 0;
switch( toupper(cmdchar) )
{
case 'M':
MoveAxis(&(argv[2][1]));
/* get status and clear up error bits */
Send_Cmd(statusCmd, responce);
XYPos(X_AXIS);
XYPos(Y_AXIS);
break;
case 'X':
XYPos(X_AXIS);
break;
case 'Y':
XYPos(Y_AXIS);
break;
case 'S':
Status();
break;
default:
status = -1;
break;
}
fflush(stdout);
return(status);
}
else if (strcmp(argv[2],"-debug") == 0)
{
verbose = 1;
}
}
if (verbose)
fprintf(stdout,"Init Device: %s\n",argv[1]);
if (verbose)
PrintSet();
/*
fprintf(stdout,"%lf %lf %lf %lf %lf %lf %lf %lf \n",xyMinMax[0],xyMinMax[1],
xyMinMax[2],xyMinMax[3],xyMinMax[4],xyMinMax[5],
MaxXYSpeed[0],MaxXYSpeed[1]);
*/
fflush(stdout);
done = 1;
while (done)
{
if (verbose)
{
fprintf(stdout,"M)ove Axis (MX+100,MY-100), S)tatus \n");
fprintf(stdout,"\nCmds: ");
}
else if (buflen)
{
if (!firstentry)
fprintf(stdout,"Cmds:\n"); /* The GUI expects this prompt, verbatim */
else
firstentry = 0;
}
/**********/
fflush(stdout);
bptr = gets(buffer);
buflen = strlen(buffer);
if (bptr == NULL)
break;
switch( toupper(buffer[0]) )
{
case 'M':
MoveAxis(&buffer[1]);
break;
case 'S':
Status();
break;
case 'X':
XYPos(X_AXIS);
break;
case 'Y':
XYPos(Y_AXIS);
break;
case 'Q':
done = 0;
return;
break;
}
}
}
int main() {
a=0;b=0;c=0;
a1=0;b1=0;c1=0;
first=1;
start=0;
int k=0;
for (k=0;k<=7;k++) {ref_distance1[k]=0;ref_distance2[k]=0;cur_distance1[k]=0;cur_distance2[k]=0;}
initIntGlobal();
initCN();
initTimer2();
initTimer4();
initPort();
LCD_init();
while(1)
{
while(start)
{
int i=0,j=0;
for (i=1;i<=8;i++)
{
for (j=0;j<32;j++)
{
PORTDCLR = 0x0002;
PORTDSET = 0x0010;
DelayMotor();
PORTDCLR = 0x0010;
PORTDSET = 0x0008;
DelayMotor();
PORTDCLR = 0x0008;
PORTDSET = 0x0004;
DelayMotor();
PORTDCLR = 0x0004;
PORTDSET = 0x0002;
DelayMotor();
}
///////////////////////////////////////////////////////////////////////////////////////////
TMR2=0; TMR4=0;
PORTDSET=0x0021;
DelayUsec(15);
PORTDCLR=0x0021;
DelayMsec(16);
a=TMR2; a1=TMR4;
TMR2=0; TMR4=0;
PORTDSET=0x0021;
DelayUsec(15);
PORTDCLR=0x0021;
DelayMsec(16);
b=TMR2; b1=TMR4;
TMR2=0; TMR4=0;
PORTDSET=0x0021;
DelayUsec(15);
PORTDCLR=0x0021;
DelayMsec(16);
c=TMR2; c1=TMR4;
//DisplayTMR2();
//DisplayTMR4();
if ( (a<80000 || a1<80000 || b<80000 || b1<80000 || c<80000 || c1<80000)&& (b-c>500
|| c-b>500 || b1-c1>500 || c1-b1>500 || a-b>500 || b-a>500 ||
a1-b1>500 || b1-a1>500 || a-c>500 || c-a>500 || a1-c1>500 || c1-a1>500 ))
{PORTDbits.RD7=1;}
DelayMsec(20);
PORTDbits.RD7=0;
///////////////////////////////////////////////////////////////////////////////////////////
}
first=0;
for (i=7;i>=0;i--)
{
for (j=0;j<32;j++)
{
PORTDCLR = 0x0010;
PORTDSET = 0x0002;
DelayMotor();
PORTDCLR = 0x0002;
PORTDSET = 0x0004;
DelayMotor();
PORTDCLR = 0x0004;
PORTDSET = 0x0008;
DelayMotor();
PORTDCLR = 0x0008;
PORTDSET = 0x0010;
DelayMotor();
}
///////////////////////////////////////////////////////////////////////////////////////////
TMR2=0; TMR4=0;
PORTDSET=0x0021;
DelayUsec(15);
PORTDCLR=0x0021;
DelayMsec(16);
a=TMR2; a1=TMR4;
TMR2=0; TMR4=0;
PORTDSET=0x0021;
DelayUsec(15);
PORTDCLR=0x0021;
DelayMsec(16);
b=TMR2; b1=TMR4;
TMR2=0; TMR4=0;
PORTDSET=0x0021;
DelayUsec(15);
PORTDCLR=0x0021;
DelayMsec(16);
c=TMR2; c1=TMR4;
//DisplayTMR2();
//DisplayTMR4();
if ( (a<80000 || a1<80000 || b<80000 || b1<80000 || c<80000 || c1<80000)&& (b-c>500
|| c-b>500 || b1-c1>500 || c1-b1>500 || a-b>500 || b-a>500 ||
a1-b1>500 || b1-a1>500 || a-c>500 || c-a>500 || a1-c1>500 || c1-a1>500 ))
{PORTDbits.RD7=1;}
DelayMsec(20);
PORTDbits.RD7=0;
///////////////////////////////////////////////////////////////////////////////////////////
}
}
}
}
int main() {
initPWM();
a=0;b=0;c=0;
a1=0;b1=0;c1=0;
start=0;
first=1;
alm=0;
motor_position=0;
initIntGlobal();
initCN();
initTimer2();
initTimer4();
initPort();
LCD_init();
while(1)
{
while (start)
{
int i=0,j=0;
for (i=1;i<=8;i++)
{
motor_position=i;
for (j=0;j<32;j++)
{
PORTDCLR = 0x0002;
PORTDSET = 0x0010;
DelayMotor();
PORTDCLR = 0x0010;
PORTDSET = 0x0008;
DelayMotor();
PORTDCLR = 0x0008;
PORTDSET = 0x0004;
DelayMotor();
PORTDCLR = 0x0004;
PORTDSET = 0x0002;
DelayMotor();
}
///////////////////////////////////////////////////////////////////////////////////////////
TMR2=0; TMR4=0;
PORTDSET=0x0220;
DelayUsec(15);
PORTDCLR=0x0220;
DelayMsec(16);
a=TMR2; a1=TMR4;
TMR2=0; TMR4=0;
PORTDSET=0x0220;
DelayUsec(15);
PORTDCLR=0x0220;
DelayMsec(16);
b=TMR2; b1=TMR4;
TMR2=0; TMR4=0;
PORTDSET=0x0220;
DelayUsec(15);
PORTDCLR=0x0220;
DelayMsec(16);
c=TMR2; c1=TMR4;
//DisplayTMR2();
//DisplayTMR4();
if ( (a<80000 || a1<80000 || b<80000 || b1<80000 || c<80000 || c1<80000)&& (b-c>800
|| c-b>800 || b1-c1>800 || c1-b1>800 || a-b>800 || b-a>800 ||
a1-b1>800 || b1-a1>800 || a-c>800 || c-a>800 || a1-c1>800 || c1-a1>800 ))
{alarm();
break;}
//DelayMsec(20);
///////////////////////////////////////////////////////////////////////////////////////////
}
if (alm) {alm=0;break;}
for (i=7;i>=0;i--)
{
motor_position=i;
for (j=0;j<32;j++)
{
PORTDCLR = 0x0010;
PORTDSET = 0x0002;
DelayMotor();
PORTDCLR = 0x0002;
PORTDSET = 0x0004;
DelayMotor();
PORTDCLR = 0x0004;
PORTDSET = 0x0008;
DelayMotor();
PORTDCLR = 0x0008;
PORTDSET = 0x0010;
DelayMotor();
}
///////////////////////////////////////////////////////////////////////////////////////////
TMR2=0; TMR4=0;
PORTDSET=0x0220;
DelayUsec(15);
PORTDCLR=0x0220;
DelayMsec(16);
a=TMR2; a1=TMR4;
TMR2=0; TMR4=0;
PORTDSET=0x0220;
DelayUsec(15);
PORTDCLR=0x0220;
DelayMsec(16);
b=TMR2; b1=TMR4;
TMR2=0; TMR4=0;
PORTDSET=0x0220;
DelayUsec(15);
PORTDCLR=0x0220;
DelayMsec(16);
c=TMR2; c1=TMR4;
//DisplayTMR2();
//DisplayTMR4();
if ( (a<80000 || a1<80000 || b<80000 || b1<80000 || c<80000 || c1<80000)&& (b-c>800
|| c-b>800 || b1-c1>800 || c1-b1>800 || a-b>800 || b-a>800 ||
a1-b1>800 || b1-a1>800 || a-c>800 || c-a>800 || a1-c1>800 || c1-a1>800 ))
{alarm();
break;
}
//DelayMsec(20);
///////////////////////////////////////////////////////////////////////////////////////////
}
//if (alm) {alm=0;break;}
}
}
}
SystemLights::SystemLights(char port)
{
initPort(port);
cathode = false;
warning = false;
}
void SIM90x_Init(const struct TRANSPORT_IF *tp)
{
uint32_t resp;
uint32_t retry = 0;
OS_ERR error;
SIM90x_Transport = (struct TRANSPORT_IF*)tp;
///////////////
OSTmrCreate(&IdleTimer,
"IdleTimer",
SYS_MsToTick(1200),
SYS_MsToTick(1200),
OS_OPT_TMR_ONE_SHOT,
(OS_TMR_CALLBACK_PTR)0,
(void*)0,
&error );
///////////////
initPort();
Term_Init(SIM90x_Transport);
////////////////
SIM90x_PowerUp();
while(1)
{
SYS_DelayMs(500);
Debug(DEBUG_SIM908, "\n\nInit SIM908 retry %d times !!!! \n", retry);
retry ++;
// Echo mode off
Debug(DEBUG_SIM908, "\nATE0; Echo mode off\n");
SIM90x_Flush();
SIM90x_WriteLine("ATE0", 1000);
resp = SIM90x_WaitResponseList(1000, "OK", 0);
Debug(DEBUG_SIM908, "Response: %s\n", SIM90x_ResponseBuffer);
if( resp == 0 )
continue;
// Disable network registration unsolicited result code
Debug(DEBUG_SIM908, "\nAT+CREG=0; Network Registration \n");
SIM90x_Flush();
SIM90x_WriteLine("AT+CREG=0", 1000);
resp = SIM90x_WaitResponseList(1000, "OK", 0);
Debug(DEBUG_SIM908, "Response: %s\n", SIM90x_ResponseBuffer);
if( resp == 0 )
continue;
Debug(DEBUG_SIM908, "\nAT+CPIN? Enter PIN \n");
SIM90x_Flush();
SIM90x_WriteLine("AT+CPIN?", 1000);
resp = SIM90x_WaitResponseList(1000, "+CPIN: READY", 0);
Debug(DEBUG_SIM908, "Response: %s\n", SIM90x_ResponseBuffer);
if( resp == 0 )
continue;
break;
}
SIM90x_StartIdleTime();
}
void ParallelPortComponent::dataChanged() {
initPort(dataString("port"));
}
int main() {
first=1;
start=0;
int k=0;
for (k=0;k<=7;k++) {ref_distance1[k]=0;ref_distance2[k]=0;cur_distance1[k]=0;cur_distance2[k]=0;}
initIntGlobal();
initCN();
initTimer2();
initTimer4();
initPort();
LCD_init();
while(1)
{
while(start)
{
int i=0,j=0;
for (i=0;i<=7;i++)
{
for (j=0;j<32;j++)
{
PORTDCLR = 0x0002;
PORTDSET = 0x0010;
DelayMotor();
PORTDCLR = 0x0010;
PORTDSET = 0x0008;
DelayMotor();
PORTDCLR = 0x0008;
PORTDSET = 0x0004;
DelayMotor();
PORTDCLR = 0x0004;
PORTDSET = 0x0002;
DelayMotor();
}
TMR2=0; TMR4=0;
PORTDSET=0x0021;
DelayUsec(15);
PORTDCLR=0x0021;
DelayMsec(30);
DisplayTMR2();
DisplayTMR4();
if (!first)
{cur_distance1[i]=TMR2; cur_distance2[i]=TMR4;}
else {ref_distance1[i]=TMR2;ref_distance2[i]=TMR4;
cur_distance1[i]=TMR2; cur_distance2[i]=TMR4;}
if (cur_distance1[i]-ref_distance1[i]>300 || ref_distance1[i]-cur_distance1[i]>300
||cur_distance2[i]-ref_distance2[i]>300 || ref_distance2[i]-cur_distance2[i]>300)
{PORTDbits.RD7=1;}
DelayMsec(20);
PORTDbits.RD7=0;
}
first=0;
for (i=0;i<=7;i++)
{
for (j=0;j<32;j++)
{
PORTDCLR = 0x0010;
PORTDSET = 0x0002;
DelayMotor();
PORTDCLR = 0x0002;
PORTDSET = 0x0004;
DelayMotor();
PORTDCLR = 0x0004;
PORTDSET = 0x0008;
DelayMotor();
PORTDCLR = 0x0008;
PORTDSET = 0x0010;
DelayMotor();
}
TMR2=0; TMR4=0;
PORTDSET=0x0021;
DelayUsec(15);
PORTDCLR=0x0021;
DelayMsec(30);
DisplayTMR2();
DisplayTMR4();
cur_distance1[7-i]=TMR2; cur_distance2[7-i]=TMR4;
if (cur_distance1[7-i]-ref_distance1[i]>300 || ref_distance1[i]-cur_distance1[7-i]>300
||cur_distance2[7-i]-ref_distance2[i]>300 || ref_distance2[i]-cur_distance2[7-i]>300)
{PORTDbits.RD7=1;}
DelayMsec(20);
PORTDbits.RD7=0;
}
}
}
}
main (int argc, char *argv[])
{
char buffer[256];
char *bptr;
int i, val;
int buflen = 1;
int done = 1;
int verbose = 1;
int stat;
if (argc < 2)
{
fprintf(stdout,"usage: %s <devicename> (i.e. /dev/term/b)\n", argv[0]);
exit(1);
}
if (argc > 2)
{
verbose = 0;
}
/* serialPort = initPort("/dev/term/a",SMS_SERIAL_PORT); */
serialPort = initPort(argv[1],SMS_SERIAL_PORT);
write(serialPort, "\r",1); /* is NMS ready? */
stat = cmdAck(serialPort,6);
if (stat == SMPTIMEOUT)
{
fprintf(stdout,"\nNMS_NOT_READY\n");
fflush(stdout);
/*exit(1);*/
}
while (done)
{
if (verbose)
{
fprintf(stdout,"D)own Probe, U)p Probe, S#)ample Number\n");
fprintf(stdout,"F)lange Adj., P)robe Actuator, A)djust Probe\n");
fprintf(stdout,"T)est NMS, R)ack Test, C)arousel Adj,\n");
fprintf(stdout,"Q)uit, \n");
fprintf(stdout,"\nEnter a command: ");
}
else if (buflen)
{
fprintf(stdout,"\nCMDS:\n");
}
fflush(stdout);
bptr = gets(buffer);
buflen = strlen(buffer);
if (bptr == NULL)
break;
switch( toupper(buffer[0]) )
{
case 'D':
robot('F',0);
break;
case 'U':
robot('M',0);
break;
case 'F':
robot('A',1);
break;
case 'P':
robot('A',2);
break;
case 'A':
robot('A',3);
break;
case 'T':
robot('A',4);
break;
case 'R':
robot('A',5);
break;
case 'C':
robot('A',6);
break;
case 'S':
val = atoi(buffer+1);
robot('V', val);
break;
case 'ETX':
robot('',0);
break;
case 'Q':
robot('Q',0);
close(serialPort);
fprintf(stdout,"BYE\n");
fflush(stdout);
exit(0);
break;
default:
break;
}
}
}
