int decode(unsigned char *address, const size_t size)
{
Frequency freq;
RangeCoder rc;
image_buf = address;
image_size = size;
rc_initialize(&rc, bgetc, bputc);
frequency_initialize(&freq);
return rc_decode(&freq, &rc);
}
/*******************************************************************************
* int main()
*
* This template main function contains these critical components
* - call to rc_initialize() at the beginning
* - main while loop that checks for EXITING condition
* - rc_cleanup() at the end
*******************************************************************************/
int main(){
double duty = 0.0;
int ch = 1;
int c, in;
int all = 1; // set to 0 if a motor (-m) argument is given
m_mode_t m_mode = DISABLED;
char direction = 'w';
// always initialize cape library first
if(rc_initialize()){
fprintf(stderr,"ERROR: failed to initialize rc_initialize(), are you root?\n");
return -1;
}
// do your own initialization here
printf("\nStarting Teleoperation of BeagleBone Blue\n");
rc_set_pause_pressed_func(&on_pause_pressed);
rc_set_pause_released_func(&on_pause_released);
// done initializing so set state to RUNNING
rc_set_state(RUNNING);
rc_enable_motors();
// Keep looping until state changes to EXITING
while(rc_get_state()!=EXITING){
// handle other states
if(rc_get_state()==RUNNING){
// do things
rc_set_led(GREEN, ON);
rc_set_led(RED, OFF);
m_mode = NORMAL;
duty = 0.5;
direction = getc(stdin);
switch(direction){
case 'w':
printf("Moving forward\n");
rc_set_motor_all(duty);
break;
case 'a':
printf("Turning left\n");
rc_set_motor(1, -duty);
rc_set_motor(2, -duty);
rc_set_motor(3, duty);
rc_set_motor(4, duty);
break;
case 'd':
printf("Turning right\n");
rc_set_motor(1, duty);
rc_set_motor(2, duty);
rc_set_motor(3, -duty);
rc_set_motor(4, -duty);
break;
case 's':
printf("Reversing\n");
rc_set_motor_all(-duty);
break;
case 'e':
printf("Braking all motors\n");
rc_set_motor_brake_all();
break;
case '+':
printf("increasing speed\n");
duty += 0.1;
break;
case '-':
printf("decreasing speed\n");
duty -= 0.1;
break;
default:
/* conitnue last action */
break;
}
}else if(rc_get_state()==PAUSED){
// do other things
rc_set_led(GREEN, OFF);
rc_set_led(RED, ON);
}
// always sleep at some point
usleep(100000);
}
// exit cleanly
rc_cleanup();
return 0;
}
