int main( int argc, char *argv[] )
{
print_args(argc,argv);
bool stop=false;
init_claws();
time_t t;
time(&t);
time_stamp = *(localtime(&t));
printf("====================== CLAW =========================\n");
if (argc>1) {
if (strcmp(argv[1], "stop")==0) {
stop = true;
printf("Stop!");
int count = 10;
while (count--) {
mot.ForwardM1 (address, 0);
mot.ForwardM2 (address, 0);
mot2.ForwardM1(address, 0);
mot2.ForwardM2(address, 0);
/* mot3.ForwardM1(address, 0);
mot3.ForwardM2(address, 0);
mot4.ForwardM1(address, 0);
mot4.ForwardM2(address, 0); */
usleep(1000000); // 0.1 sec
usleep(1000000); // 0.1 sec
}
exit(1);
}
}
while (1)
{
printf("\nForward:\n");
mot.ForwardM1(address, 64);
mot.ForwardM2(address, 64);
/* mot2.ForwardM1(address, 64);
mot2.ForwardM2(address, 64); */
usleep(1000000); // 0.1 sec
//usleep(1000000); // 0.1 sec
//read_main_battery();
printf("\nBackward:\n");
mot.BackwardM1(address, 64);
mot.BackwardM2(address, 64);
/* mot2.BackwardM1(address, 64);
mot2.BackwardM2(address, 64); */
usleep(1000000); // 0.1 sec
//usleep(1000000); // 0.1 sec
}
}
void set_motor_speed1( int speed )
{
if (speed>0)
mot1.ForwardM1( 0x80, speed );
else
mot1.BackwardM1( 0x80, -speed );
}
//==============================================================================
// MotorsDriver::RDrive
//==============================================================================
void MotorsDriver::RDrive(short sVal) {
if (sVal != RDrivePrev) {
RDrivePrev = sVal;
if (sVal >= 0)
RClaw.ForwardM1(PACKETS_ADDRESS, sVal);
else
RClaw.BackwardM1(PACKETS_ADDRESS, -sVal);
}
}
