int main(void)
{
long long int time=0;
Led0 led;Blink blink0(led);blink0.setup();blink0.time(100);
A0 a0;Blink blink1(a0);blink1.setup();blink1.time(100);
Serial0 serial;serial.setup(115200);
Serial1 serial1;
Enc0 l;Enc1 r;Enc2 b;
RobotCenter center(l,r,b);center.setup();
Can0 can;
DualShock ps3(serial1);
ps3.setStickTolerance(0.1);
//DualShock ps3(serial1);ps3.setup();
/*Cw4 cw4;Ccw4 ccw4;Pwm4 pwm4;Md md4(cw4,ccw4,pwm4);
Cw5 cw5;Ccw5 ccw5;Pwm5 pwm5;Md md5(cw5,ccw5,pwm5);
Cw6 cw6;Ccw6 ccw6;Pwm6 pwm6;Md md6(cw6,ccw6,pwm6);
Cw7 cw7;Ccw7 ccw7;Pwm7 pwm7;Md md7(cw7,ccw7,pwm7);*/
CW0 cw4;CCW0 ccw4;Pwm0 pwm4;Md md4(cw4,ccw4,pwm4);
CW1 cw5;CCW1 ccw5;Pwm1 pwm5;Md md5(cw5,ccw5,pwm5);
CW2 cw6;CCW2 ccw6;Pwm2 pwm6;Md md6(cw6,ccw6,pwm6);
CW3 cw7;CCW3 ccw7;Pwm3 pwm7;Md md7(cw7,ccw7,pwm7);
Move move(md4,md5,md6,md7,center,ps3);move.setup();
Debug debug(serial,center,ps3);debug.setup();
while(1){
blink0.cycle();
center.cycle();
ps3.cycle();
//move.manualModeCycle();
debug.cycle();
if(millis()-time>=100){
time=millis();
/*serial.printf("lx:%.4f",ps3.lx());
serial.printf("ly:%.4f",ps3.ly());
serial.printf("rx:%.4f",ps3.rx());
serial.printf("ry:%.4f",ps3.ry());
serial.printf("u:%.4f",ps3.up());
serial.printf("r:%.4f",ps3.right());
serial.printf("d:%.4f",ps3.down());
serial.printf("l:%.4f",ps3.left());
serial.printf("tri:%.4f",ps3.triangle());
serial.printf("cir:%.4f",ps3.circle());
serial.printf("cro:%.4f",ps3.cross());
serial.printf("squ:%.4f",ps3.square());
serial.printf("l1:%.4f",ps3.l1());
serial.printf("l2:%.4f",ps3.l2());
serial.printf("r1:%.4f",ps3.r1());
serial.printf("r2:%.4f",ps3.r2());
serial.printf("start:%.4f",ps3.start());
serial.printf("select:%.4f",ps3.select());
serial.printf("dis:%d\n",ps3.disconnect());*/
//serial.printf("ang,% .4f, x,% .4f, y,% .4f\n",rtod(center.getAngle()),center.x(),center.y());
}
}
return 0;
}
// *****************************************************************************
// Main
int main(int argc, char* const argv[])
{
try {
if (argc != 2) {
std::cout << "Usage: " << argv[0] << " file\n";
return 1;
}
std::string file(argv[1]);
std::cout <<"----- One IFD0 tag\n";
Exiv2::ExifData ed1;
Exiv2::Exifdatum md1(Exiv2::ExifKey("Exif.Image.Model"));
md1.setValue("Test 1");
ed1.add(md1);
write(file, ed1);
print(file);
std::cout <<"\n----- One Exif tag\n";
Exiv2::ExifData ed2;
Exiv2::Exifdatum md2(Exiv2::ExifKey("Exif.Photo.DateTimeOriginal"));
md2.setValue("Test 2");
ed2.add(md2);
write(file, ed2);
print(file);
// Todo: One Makernote tag for each Makernote
std::cout <<"\n----- One IOP tag\n";
Exiv2::ExifData ed3;
Exiv2::Exifdatum md3(Exiv2::ExifKey("Exif.Iop.InteroperabilityVersion"));
md3.setValue("Test 3");
ed3.add(md3);
write(file, ed3);
print(file);
std::cout <<"\n----- One GPS tag\n";
Exiv2::ExifData ed4;
Exiv2::Exifdatum md4(Exiv2::ExifKey("Exif.GPSInfo.GPSVersionID"));
md4.setValue("Test 4");
ed4.add(md4);
write(file, ed4);
print(file);
// Todo: Fix this
std::cout <<"\n----- One IFD1 tag\n";
Exiv2::ExifData ed5;
Exiv2::Exifdatum md5(Exiv2::ExifKey("Exif.Thumbnail.Artist"));
md5.setValue("Test 5");
ed5.add(md5);
Exiv2::Exifdatum md6(Exiv2::ExifKey("Exif.Image.Model"));
md6.setValue("Test 5 (Fix me!)");
ed5.add(md6);
write(file, ed5);
print(file);
return 0;
}
catch (Exiv2::Error& e) {
std::cout << "Caught Exiv2 exception '" << e << "'\n";
return -1;
}
}
