int main(int argc, char** argv) {
// Lab two problems
problemOne();
problemTwo();
problemThree();
problemFour();
problemFive();
problemSix();
problemSeven();
problem8();
problem9();
problem10();
// Pass any applicable command line arguments to GLUT. These arguments
// are platform dependent.
glutInit(&argc, argv);
// Set the initial window size
glutInitWindowSize( 400, 400 );
// Create a window using a string and make it the current window.
glutCreateWindow("CSE 618 Lab2");
// Indicate to GLUT that the flow of control should return to the program after
// the window is closed and the GLUTmain loop is exited.
glutSetOption(GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
// GLEW does not entirely support the Core GLUT Profile out of the box.
// The following statement fixes the problem.
glewExperimental = GL_TRUE;
// Intilize GLEW. This must be done after glut is initialized.
GLenum res = glewInit();
if (res != GLEW_OK) {
fprintf(stderr, "Error: '%s'\n", glewGetErrorString(res));
return false; // GLEW could not be initialized.
}
// Callback for window redisplay
glutDisplayFunc(RenderSceneCB);
glutReshapeFunc(ResizeCB);
// Set window clear color
glClearColor( 0.0f, 0.0f, 0.0f, 1.0f);
// Unbind shader in use to enable fixed function pipeline functionality (compatability mode)
glUseProgram(0);
// Enter the GLUT main loop. Control will not return until the
// window is closed.
glutMainLoop();
return 0;
} // end main
int main(int argc, char *argv[]){
//The gpio port numbers needed to drive the motor
unsigned int gpio1 = 30;
unsigned int gpio2 = 31;
unsigned int gpio3 = 48;
unsigned int gpio4 = 51;
unsigned int gpio5 = 15;
unsigned int gpios[4] = {gpio1, gpio2, gpio3, gpio4};
int gpio_fd1, gpio_fd2, gpio_fd3, gpio_fd4, gpio_fd5;
int behavior = atoi(argv[1]);
int rc;
int len;
int nfds = 2;
//Port numbers for the analog in
char AnalogIn1[] = "AIN0";
char AnalogIn2[] = "AIN1";
//char analogs[] = {AnalogIn1, AnalogIn2};
//printf("checking init analogs: %s \n", analogs[0]);
char buf[64];
//Arrays to hold the values we get back from the sensors
struct pollfd fdset[2];
int Sensor1_val;
int Sensor2_val;
//int Sensor_sum;
int mode = atoi(argv[1]);
//Initializes the position as zero, but we dont really know where this is
int pos = 0;
//Set up the gpios so we can use them to drive the motor
gpio_export(gpio1);
gpio_export(gpio2);
gpio_export(gpio3);
gpio_export(gpio4);
gpio_export(gpio5);
gpio_set_dir(gpio1, "out");
gpio_set_dir(gpio2, "out");
gpio_set_dir(gpio3, "out");
gpio_set_dir(gpio4, "out");
gpio_set_dir(gpio5, "in");
gpio_set_edge(gpio5, "rising");
gpio_fd1 = gpio_fd_open(gpio1, O_RDONLY);
gpio_fd2 = gpio_fd_open(gpio2, O_RDONLY);
gpio_fd3 = gpio_fd_open(gpio3, O_RDONLY);
gpio_fd4 = gpio_fd_open(gpio4, O_RDONLY);
gpio_fd5 = gpio_fd_open(gpio5, O_RDONLY);
int cycle = 0;
int minValue = 999999;
int minPosition = 0;
int Sensor_avg = 0;
//Wait for the start button to be pushed before we acutally start doing anything
printf("Press the start button to begin the program \n");
len = read(gpio_fd5, buf, 64);
while(1){
memset((void*)fdset, 0, sizeof(fdset));
fdset[0].fd = STDIN_FILENO;
fdset[0].events = POLLIN;
fdset[1].fd = gpio_fd5;
fdset[1].events = POLLPRI;
rc = poll(fdset, nfds, 3000);
if(rc < 0){
printf("Poll failed \n");
}
if(fdset[1].revents & POLLPRI){
lseek(fdset[1].fd, 0, SEEK_SET);
len = read(fdset[1].fd, buf, 64);
printf("Triggered \n");
//pos = problemOne(gpios, pos);
pos = problemTwo(gpios, AnalogIn1, AnalogIn2, pos, mode);
//break;
}
}
printf("Begining our steps to attempt to come up with ");
for(cycle = 0; cycle <= MAX_CYCLES; cycle++){
printf("One cycle number: %d", cycle);
Sensor1_val = analogIn(AnalogIn1);
Sensor2_val = analogIn(AnalogIn2);
Sensor_avg = (Sensor1_val + Sensor2_val)/ 2;
if(Sensor_avg < minValue){
minValue = Sensor_avg;
minPosition = cycle;
}
//Should move the IR sensors here
}
printf("%d\n", minValue);
if(minPosition <=10){
//Rotate clockwise to position
}
else{
//Rotate counterclockwise to position
}
while(1){
Sensor1_val = analogIn(AnalogIn1);
Sensor2_val = analogIn(AnalogIn2);
if(Sensor1_val > Sensor2_val){
//Rotate clockwise once
}
else{
//Rotate counterclockwise
}
}
return 0;
}
