bool tacho_stop( uint8_t port )
{
uint8_t lmc[] = { opOUTPUT_STOP, LC0( 0 ), LC0( port ),LC0( 0 ) };
int n = ev3_tcp_direct( 0, 0, lmc, sizeof( lmc ), DIRECT_COMMAND_NO_REPLY );
if ( n == EOF ) return ( false );
return ( false );
}
bool tacho_start( uint8_t port, uint8_t val )
{
uint8_t lmc[] = { opOUTPUT_POWER, LC0( 0 ), LC0( port ), LC0( val ), opOUTPUT_START, LC0( 0 ), LC0( port ) };
int n = ev3_tcp_direct( 0, 0, lmc, sizeof( lmc ), DIRECT_COMMAND_NO_REPLY );
if ( n == EOF ) return ( false );
return ( false );
}
bool sensor_value( uint8_t port, void *buf )
{
size_t globals = 1;
uint8_t lmc[] = { opINPUT_READ, LC0( 0 ), LC0( port ), LC0( 0 ), LC0( 0 ), GV0( 0 ) };
int n = ev3_tcp_direct( 1, 0, lmc, sizeof( lmc ), DIRECT_COMMAND_REPLY );
if ( n == EOF ) return ( false );
sleep_msec( 100 );
return ( ev3_tcp_direct_reply( n, buf, &globals ) == DIRECT_REPLY );
}
UBYTE prg[] =
{ // p2
// IMAGE header
PROGRAMHeader(0,1,0), // VersionInfo,NumberOfObjects,GlobalBytes
VMTHREADHeader(28,0), // OffsetToInstructions,LocalBytes
//
// VMTHREAD1
// {
opUI_WRITE,LC0(PUT_STRING),LCS, // UI_WRITE(STRING," Make 10 pulses\r\n")
' ',' ',' ',' ', //
'M','a','k','e',' ','1','0',' ', //
'p','u','l','s','e','s', //
'\r','\n',0, //
//
opUI_FLUSH, // UI_FLUSH
opOUTPUT_SPEED,LC0(0),LC0(1),LC1(50), // OUTPUT_SPEED(0,1,50)
opOUTPUT_SPEED,LC0(0),LC0(1),LC0(0), // OUTPUT_SPEED(0,1,0)
opOUTPUT_SPEED,LC0(0),LC0(1),LC1(50), // OUTPUT_SPEED(0,1,50)
opOUTPUT_SPEED,LC0(0),LC0(1),LC0(0), // OUTPUT_SPEED(0,1,0)
opOUTPUT_SPEED,LC0(0),LC0(1),LC1(50), // OUTPUT_SPEED(0,1,50)
opOUTPUT_SPEED,LC0(0),LC0(1),LC0(0), // OUTPUT_SPEED(0,1,0)
opOUTPUT_SPEED,LC0(0),LC0(1),LC1(50), // OUTPUT_SPEED(0,1,50)
opOUTPUT_SPEED,LC0(0),LC0(1),LC0(0), // OUTPUT_SPEED(0,1,0)
opOUTPUT_SPEED,LC0(0),LC0(1),LC1(50), // OUTPUT_SPEED(0,1,50)
opOUTPUT_SPEED,LC0(0),LC0(1),LC0(0), // OUTPUT_SPEED(0,1,0)
opOUTPUT_SPEED,LC0(0),LC0(1),LC1(50), // OUTPUT_SPEED(0,1,50)
opOUTPUT_SPEED,LC0(0),LC0(1),LC0(0), // OUTPUT_SPEED(0,1,0)
opOUTPUT_SPEED,LC0(0),LC0(1),LC1(50), // OUTPUT_SPEED(0,1,50)
opOUTPUT_SPEED,LC0(0),LC0(1),LC0(0), // OUTPUT_SPEED(0,1,0)
opOUTPUT_SPEED,LC0(0),LC0(1),LC1(50), // OUTPUT_SPEED(0,1,50)
opOUTPUT_SPEED,LC0(0),LC0(1),LC0(0), // OUTPUT_SPEED(0,1,0)
//****************************************************************************
// Disassembler Listing
//****************************************************************************
UBYTE prg[] =
{
/* 0 */ PROGRAMHeader(0.46,2,8),
/* 16 */ VMTHREADHeader(40,5), // Object 1
/* 28 */ BLOCKHeader(65,1,1), // Object 2
/* Object 1 (VMTHREAD) [40..65] */
/* 40 */ opMOVE32_32,LC0(0),LV0(0),
/* 43 */ opCP_EQ32,LC4(100000),LV0(0),LV0(4),
/* 51 */ opOBJECT_TRIG,LC0(2),
/* 53 */ opOBJECT_WAIT,LC0(2),
/* 55 */ opJR_TRUE,LV0(4),LC0(6),
/* 58 */ opADD32,LV0(0),LC0(1),LV0(0),
/* 62 */ opJR,LC0(-21),
/* 64 */ opOBJECT_END,
/* Object 2 (BLOCK) [65..67] */
/* 65 */ opNOP,
/* 66 */ opOBJECT_END,
};
//****************************************************************************
UBYTE prg[] =
{ // p3
// IMAGE header
PROGRAMHeader(0,1,0), // VersionInfo,NumberOfObjects,GlobalBytes
VMTHREADHeader(28,4), // OffsetToInstructions,LocalBytes
//
// VMTHREAD1
// {
opUI_WRITE,LC0(PUT_STRING),LCS, // UI_WRITE(STRING," Print input changes\r\n")
' ',' ',' ',' ', //
'P','r','i','n','t',' ', //
'i','n','p','u','t',' ', //
'c','h','a','n','g','e','s', //
'\r','\n',0, //
opUI_FLUSH, // UI_FLUSH
//
opINPUT_READ,LC0(0),LC0(0),LC0(0), // INPUT_READ(0,0,0,0,LV0)
LC0(0),LV0(0), //
// do
// {
// do
// {
opINPUT_READ,LC0(0),LC0(0),LC0(0), // INPUT_READ(0,0,0,0,LV1)
LC0(0),LV0(1), //
// }
opJR_EQ8,LV0(0),LV0(1),LC0(-10), // while (LV0 == LV1)
//
opMOVE8_8,LV0(1),LV0(0), // LV0 = LV1
//
opUI_WRITE,LC0(VALUE8),LV0(1), // UI_WRITE(VALUE8,LV1)
opUI_WRITE,LC0(PUT_STRING),LCS,'\r', // UI_WRITE(PUT_STRING,"\r\n")
// \ `----------------------'
// \
// (VMTHREAD2--WRITE(One)--DELAY(1)--LOOP10)-----)
// ^ |
// | |
// `----------------------'
//
UBYTE prg[] = // p12.c
{ //
PROGRAMHeader(0,2,0), // VersionInfo,NumberOfObjects,GlobalBytes
VMTHREADHeader(40,5), // OffsetToInstructions,LocalBytes
VMTHREADHeader(106,5), // OffsetToInstructions,LocalBytes
//
// VMTHREAD1
// {
opUI_WRITE,LC0(PUT_STRING),LCS,' ',' ',' ',' ','P', // UI_WRITE(STRING," Parallel programming\r\n");
'a','r','a','l','l','e','l',' ','p','r','o', //
'g','r','a','m','m','i','n','g','\r','\n',0, //
opUI_FLUSH, // UI_FLUSH
opOBJECT_START,LC0(2), // START_OBJECT(2)
//
opMOVE8_8,LC0(10),LV0(4), // LV4 = 10
// do
// {
opUI_WRITE,LC0(PUT_STRING),LCS,' ',' ',' ',' ','O', // UI_WRITE(STRING," One\r\n");
'n','e','\r','\n',0, //
opUI_FLUSH, // UI_FLUSH
opTIMER_WAIT,LC2(1000),LV0(0), // DELAY(1)
opTIMER_READY,LV0(0), //
// }
opSUB8,LV0(4),LC0(1),LV0(4), // while(--LV4)
UBYTE prg[] =
{ // p0
// IMAGE header
PROGRAMHeader(0,1,0), // VersionInfo,NumberOfObjects,GlobalBytes
VMTHREADHeader(0,0), // OffsetToInstructions,LocalBytes
//
// VMTHREAD1
// {
opUI_WRITE,LC0(PUT_STRING),LCS, // UI_WRITE(STRING," Do nops\r\n")
' ',' ',' ',' ', //
'D','o',' ','n','o','p','s', //
'\r','\n',0, //
opUI_FLUSH, // UI_FLUSH
// do
// {
opNOP, // nop
opNOP, // nop
opNOP, // nop
opNOP, // nop
opNOP, // nop
opNOP, // nop
opNOP, // nop
opNOP, // nop
opNOP, // nop
opNOP, // nop
// }
opJR,LC0(-12), // while (TRUE)
//
opOBJECT_END // }
};
UBYTE prg[] =
{ // p9
// IMAGE header
PROGRAMHeader(0,1,2), // VersionInfo,NumberOfObjects,GlobalBytes
VMTHREADHeader(28,0), // OffsetToInstructions,LocalBytes
//
// VMTHREAD1
// {
opUI_WRITE,LC0(PUT_STRING),LCS, // UI_WRITE(STRING," DATA8 multiply\r\n")
' ',' ',' ',' ', //
'D','A','T','A','8',' ', //
'm','u','l','t','i','p','l','y', //
'\r','\n',0, //
opUI_FLUSH, // UI_FLUSH
// do
// {
opMOVE8_8,LC0(3),GV0(0), // GV0 = 3
opMOVE8_8,LC0(7),GV0(1), // GV1 = 7
//
opMUL8,GV0(0),GV0(1),GV0(0), // GV0 = GV0 * GV1
opMUL8,GV0(0),GV0(1),GV0(0), // GV0 = GV0 * GV1
opMUL8,GV0(0),GV0(1),GV0(0), // GV0 = GV0 * GV1
opMUL8,GV0(0),GV0(1),GV0(0), // GV0 = GV0 * GV1
opMUL8,GV0(0),GV0(1),GV0(0), // GV0 = GV0 * GV1
opMUL8,GV0(0),GV0(1),GV0(0), // GV0 = GV0 * GV1
opMUL8,GV0(0),GV0(1),GV0(0), // GV0 = GV0 * GV1
opMUL8,GV0(0),GV0(1),GV0(0), // GV0 = GV0 * GV1
opMUL8,GV0(0),GV0(1),GV0(0), // GV0 = GV0 * GV1
opMUL8,GV0(0),GV0(1),GV0(0), // GV0 = GV0 * GV1
// }
opJR,LC1(-43), // while (TRUE)
/*! \page programexample1 Line Follower
*
* Example program
*
* <hr size="1"/>
* \verbatim */
UBYTE prg[] = // p5.c
{ //
PROGRAMHeader(0,1,0), // 0 VersionInfo,NumberOfObjects,GlobalBytes
VMTHREADHeader(0,3), // 12 OffsetToInstructions,LocalBytes
//
// 24 VMTHREAD1
// {
opUI_WRITE,LC0(PUT_STRING),LCS, // UI_WRITE(STRING," LineFollower\r\n")
' ',' ',' ',' ', //
'L','i','n','e','F','o','l', //
'l','o','w','e','r', //
'\r','\n',0, //
opUI_FLUSH, // UI_FLUSH
//
opINPUT_READ,LC0(0),LC0(1), // INPUT_READ(0,0,2,LV0) // Read light sensor
LC1(2),LC0(1),LV0(0), //
opDIV8,LV0(0),LC0(2),LV0(0), // LV0 /= 2
opADD8,LV0(0),LC0(15),LV0(0), // LV0 += 15
//
// do
// {
opINPUT_READ,LC0(0),LC0(1), // INPUT_READ(0,0,2) // Read light sensor
LC1(2),LC0(1),LV0(1), //
opSUB8,LV0(1),LV0(0),LV0(1), // LV1 -= LV0
