Example #1
0
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);

	}                        


}
Example #2
0
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;
}
Example #3
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);
}
Example #4
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);
}
Example #5
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);
   
}
Example #6
0
int main(void)
	{
		NVIC_Excitation();
		pwm.init(&pwm);
		adcdim.init(&adcdim);
//		dacout.Output1 = 1000;
//		dacout.init(&dacout);
		spiout.init(&spiout);
			
	for(;;);
	
}
Example #7
0
void PwmEnable15(void)
{
	pwm.Enable(7);
}
Example #8
0
void PwmEnable13(void)
{
	pwm.Enable(5);
}
Example #9
0
void PwmEnable12(void)
{
	pwm.Enable(4);
}
Example #10
0
void PwmSetPolarity16(BOOL Polarity)
{
	pwm.SetPolarity(8,Polarity);
}
Example #11
0
void PwmSetPolarity14(BOOL Polarity)
{
	pwm.SetPolarity(6,Polarity);
}
Example #12
0
void PwmSetPolarity12(BOOL Polarity)
{
	pwm.SetPolarity(4,Polarity);
}
Example #13
0
void PwmSetDuty13(U16 Duty)
{
	pwm.SetDuty(5,Duty);
}
Example #14
0
void PwmSetDuty12(U16 Duty)
{
	pwm.SetDuty(4,Duty);
}
Example #15
0
void PwmSetDuty6(U16 Duty)
{
	pwm.SetDuty(3,Duty);
}
Example #16
0
void PwmSetPolarity5(BOOL Polarity)
{
	pwm.SetPolarity(2,Polarity);
}
Example #17
0
void PwmSetPolarity6(BOOL Polarity)
{
	pwm.SetPolarity(3,Polarity);
}
Example #18
0
void PwmSetDuty14(U16 Duty)
{
	pwm.SetDuty(6,Duty);
}
Example #19
0
void PwmSetPolarity13(BOOL Polarity)
{
	pwm.SetPolarity(5,Polarity);
}
Example #20
0
void PwmSetDuty15(U16 Duty)
{
	pwm.SetDuty(7,Duty);
}
Example #21
0
void PwmSetPolarity15(BOOL Polarity)
{
	pwm.SetPolarity(7,Polarity);
}
Example #22
0
void PwmSetDuty16(U16 Duty)
{
	pwm.SetDuty(8,Duty);
}
Example #23
0
void PwmSetPolarity21(BOOL Polarity)
{
	pwm.SetPolarity(9,Polarity);
}
Example #24
0
void PwmSetDuty21(U16 Duty)
{
	pwm.SetDuty(9,Duty);
}
Example #25
0
void PwmSetPolarity26(BOOL Polarity)
{
	pwm.SetPolarity(10,Polarity);
}
Example #26
0
void PwmSetDuty26(U16 Duty)
{
	pwm.SetDuty(10,Duty);
}
Example #27
0
void PwmEnable14(void)
{
	pwm.Enable(6);
}
Example #28
0
void PwmSetPolarity0(BOOL Polarity)
{
	pwm.SetPolarity(0,Polarity);
}
Example #29
0
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;

}
Example #30
0
void PwmSetPolarity1(BOOL Polarity)
{
	pwm.SetPolarity(1,Polarity);
}