static void quit() { SDL_JoystickClose(joy); nxt_motor_stop(nxt, NXT_MOTORA, 0); nxt_motor_stop(nxt, NXT_MOTORB, 0); nxt_motor_stop(nxt, NXT_MOTORC, 0); nxt_close(nxt); SDL_Quit(); }
void nxt_motor_goto(int * port, int *power, int * tacho, int *brake) { int curr_tacho; nxt_motor_getrotation(port,&curr_tacho); if(*tacho >= curr_tacho) { nxt_motor_setforward(port, power); while(1) { nxt_motor_getrotation(port,&curr_tacho); if (curr_tacho < *tacho) break; } nxt_motor_stop(port, brake); } else { nxt_motor_setreverse(port, power); while(1) { nxt_motor_getrotation(port,&curr_tacho); if (curr_tacho < *tacho) break; } nxt_motor_stop(port, brake); } }