int main(){
signal(SIGINT, &sig_handler);
uint16_t rotary_value = 0;
float value = 0.0f;
mraa_pwm_context pwm1;
mraa_aio_context rotary;
pwm1 = mraa_pwm_init(5);
rotary = mraa_aio_init(0);
if (rotary == NULL || pwm1 == NULL) {
return 1;
printf("Broken\n");
}
mraa_pwm_period_ms(pwm1, 20);
mraa_pwm_enable(pwm1, 1);
while(isrunning){
rotary_value = mraa_aio_read(rotary);
//convert to 0.00 to 1.00 scale
value = ((float) rotary_value)/102;
//convert to 0.025 to 0.1 scale (avoid rattle)
value = value/13.33;
value = value + 0.025;
if (value >= .25){
mraa_pwm_enable(pwm1, 1);
printf("%f\n", value);
mraa_pwm_write(pwm1, value);
}
else{
// mraa_pwm_write(pwm1, 0);
mraa_pwm_enable(pwm1, 0);
}
}
mraa_pwm_write(pwm1, 0.025f);
mraa_pwm_enable(pwm1, 0);
return 0;
}
int main()
{
mraa_gpio_context in1;
mraa_gpio_context in2;
mraa_gpio_context in3;
mraa_gpio_context in4;
in1=mraa_gpio_init(7);
in2=mraa_gpio_init(8);
in3=mraa_gpio_init(9);
in4=mraa_gpio_init(10);
mraa_pwm_context en1;
en1=mraa_pwm_init(6);
mraa_pwm_context en2;
en2=mraa_pwm_init(5);
mraa_gpio_dir(in1,MRAA_GPIO_OUT);
mraa_gpio_dir(in2,MRAA_GPIO_OUT);
mraa_pwm_enable(en1,1);
mraa_pwm_period_ms(en1,20);
mraa_gpio_dir(in3,MRAA_GPIO_OUT);
mraa_gpio_dir(in4,MRAA_GPIO_OUT);
mraa_pwm_enable(en2,1);
mraa_pwm_period_ms(en2,20);
mraa_pwm_write(en1,1.0f);
mraa_pwm_write(en2,1.0f);
mraa_gpio_write(in1,1);
mraa_gpio_write(in2,0);
mraa_gpio_write(in3,0);
mraa_gpio_write(in4,1);
printf("right90");
usleep(2300000);
mraa_gpio_write(in1,0);
mraa_gpio_write(in2,0);
mraa_gpio_write(in3,0);
mraa_gpio_write(in4,0);
mraa_pwm_enable(en1,0);
mraa_pwm_enable(en2,0);
usleep(2300000);
return 0;
}
void PWM_Run(void)
{
mraa_pwm_period_ms(pwm, TIME_PERIOD);
//printf("Time Period set to %dms\n", TIME_PERIOD);
mraa_pwm_enable(pwm,1);
//printf("PWM enabled\n");
mraa_pwm_write(pwm, DUTY_CYCLE);
//printf("Duty Cycle set to %f%%\n", (100 * DUTY_CYCLE));
//printf("PWM running\n");
}
FskErr mraaPWMNew(FskPinPWM *pin, SInt32 number, const char *name)
{
FskErr err;
mraaPWM mpwm;
err = FskMemPtrNewClear(sizeof(mraaPWMRecord), &mpwm);
if (err) return err;
mpwm->context = mraa_pwm_init(number);
if (!mpwm->context) {
FskMemPtrDispose(mpwm);
return kFskErrOperationFailed;
}
mraa_pwm_period_ms(mpwm->context, PWMDEFAULTPERIOD);
mpwm->period = PWMDEFAULTPERIOD;
mraa_pwm_write(mpwm->context, 0.0);
*pin = (FskPinPWM)mpwm;
return err;
}
int main()
{
int sockfd;
float brightness;
struct sockaddr_in server_addr;
char response[MAX_SIZE];
char cmd[MAX_SIZE];
char cmd2[MAX_SIZE];
FILE *fp, *fp2;
char component_string[MAX_SIZE];
char value_string[MAX_SIZE];
int value_int;
mraa_pwm_context speed_pwm_in1, speed_pwm_in2, turn_pwm;
speed_pwm_in1 = mraa_pwm_init(3);
speed_pwm_in2 = mraa_pwm_init(5);
turn_pwm = mraa_pwm_init(6);
if (speed_pwm_in1 == NULL || speed_pwm_in2 == NULL || turn_pwm == NULL) {
fprintf(stderr, "Failed to initialized.\n");
return 1;
}
mraa_pwm_period_us(speed_pwm_in1,870); //1150Hz
mraa_pwm_enable(speed_pwm_in1, 1);
mraa_pwm_period_us(speed_pwm_in2,870);
mraa_pwm_enable(speed_pwm_in2, 1);
mraa_pwm_period_ms(turn_pwm,20);
mraa_pwm_enable(turn_pwm, 1);
mraa_pwm_write(speed_pwm_in1, 1.0f);
mraa_pwm_write(speed_pwm_in2, 1.0f);
mraa_pwm_write(turn_pwm, CENTER);
//Set the protocol to mqtt and
//restart iotkit-agent to ensure that it is running.
system("iotkit-admin protocol mqtt");
system("systemctl restart iotkit-agent");
//create a socket with the following attributes:
socklen_t len = sizeof(server_addr);
sockfd = socket(AF_INET, SOCK_DGRAM, 0);
bzero(&server_addr,sizeof(server_addr));
//Name of the socket as agreed with the server
server_addr.sin_family = AF_INET;
server_addr.sin_addr.s_addr = inet_addr(localhost);
server_addr.sin_port = htons(41235);
if (bind(sockfd, (struct sockaddr *)&server_addr, sizeof(server_addr)) < 0) {
fprintf(stderr, "Failed to bind");
return 1;
}
while(1)
{
//Use recvfrom function to send JSON message to iotkit-agent
if(recvfrom(sockfd, response, MAX_SIZE, 0, (struct sockaddr *)&server_addr, &len) < 0)
{
fprintf(stderr, "Failed to receive actuation\n");
return 1;
}
//printf("Received JSON message: %s\n", response);
//---This part extracts the component name----------------
snprintf(cmd, sizeof(cmd), "echo '%s' | sed 's/\"/ /g' | tr ' ' '\n' | awk '/component/{getline; getline; print}'", response);
fp = popen(cmd, "r");
if (fp == NULL) {
fprintf(stderr, "Failed to run command\n" );
exit(1);
}
while (fgets(component_string, sizeof(component_string)-1, fp) != NULL) {
}
pclose(fp);
//---This part extracts the value-------------------------
snprintf(cmd2, sizeof(cmd2), "echo '%s' | sed 's/\"/ /g' | tr ' ' '\n' | awk '/value/{getline; getline; print}'", response);
fp2 = popen(cmd2, "r");
if (fp2 == NULL) {
fprintf(stderr, "Failed to run command\n" );
exit(1);
}
while (fgets(value_string, sizeof(value_string)-1, fp) != NULL) {
}
pclose(fp2);
//printf(value_string);
//---This part is for actuation
if (!strcmp(component_string, "vehicleControl\n")) {
if (!strcmp(value_string, "forward\n")) {
printf("Going forward for 1 second.\n\n");
mraa_pwm_write(turn_pwm, CENTER); //straight
usleep(100000);
speed_control(speed_pwm_in1, speed_pwm_in2, 100);
sleep(1);
speed_control(speed_pwm_in1, speed_pwm_in2, 0);
}
else if (!strcmp(value_string, "reverse\n")) {
printf("Going backward for 1 second.\n\n");
mraa_pwm_write(turn_pwm, CENTER); //reverse
usleep(100000);
speed_control(speed_pwm_in1, speed_pwm_in2, -100);
sleep(1);
speed_control(speed_pwm_in1, speed_pwm_in2, 0);
}
else if (!strcmp(value_string, "left\n")) {
printf("Making a left turn.\n\n");
mraa_pwm_write(turn_pwm, CENTER - 0.015f); //left
usleep(100000);
speed_control(speed_pwm_in1, speed_pwm_in2, 100);
sleep(1);
speed_control(speed_pwm_in1, speed_pwm_in2, 0);
}
else if (!strcmp(value_string, "right\n")) {
printf("Making a right turn.\n\n");
mraa_pwm_write(turn_pwm, CENTER + 0.015f); //right
usleep(100000);
speed_control(speed_pwm_in1, speed_pwm_in2, 100);
sleep(1);
speed_control(speed_pwm_in1, speed_pwm_in2, 0);
}
else
fprintf(stderr, "Wrong actuation command received!\n");
}
}
close(sockfd);
return 0;
}
mraa_result_t
mraa_pwm_period(mraa_pwm_context dev, float seconds)
{
return mraa_pwm_period_ms(dev, seconds * 1000);
}
int main(){
/**********************************************************************/
/**********************************************************************/
/* Begin. */
mraa_uart_context uart;
uart = mraa_uart_init(0);
mraa_uart_set_baudrate(uart, 115200);
char buffer[] = "hhh";
char flush[]="xxxxxxxxxxxx";
char str[] = "HELLO";
if (uart == NULL) {
fprintf(stderr, "UART failed to setup\n");
printf("UART failed");
return 1;
}
printf("firstavail:%d\n",mraa_uart_data_available(uart,0));
while (mraa_uart_data_available(uart,0))
{
mraa_uart_read(uart, flush, sizeof(uart));
printf("Flush: %c %c %c %c %c %c %c %c",flush[0], flush[1], flush[2],flush[3],flush[4],flush[5],flush[6],flush[7]);
usleep(150);
}
printf("available: %d",mraa_uart_data_available(uart,0));
char speed_user_input[MAXBUFSIZ];
char turn_user_input[MAXBUFSIZ];
mraa_pwm_context speed_pwm_in1, speed_pwm_in2, turn_pwm;
speed_pwm_in1 = mraa_pwm_init(3);
speed_pwm_in2 = mraa_pwm_init(5);
turn_pwm = mraa_pwm_init(6);
if (speed_pwm_in1 == NULL || speed_pwm_in2 == NULL || turn_pwm == NULL) {
fprintf(stderr, "Failed to initialized.\n");
return 1;
}
mraa_pwm_period_us(speed_pwm_in1,870); //1150Hz
mraa_pwm_enable(speed_pwm_in1, 1);
mraa_pwm_period_us(speed_pwm_in2,870);
mraa_pwm_enable(speed_pwm_in2, 1);
mraa_pwm_period_ms(turn_pwm,20);
mraa_pwm_enable(turn_pwm, 1);
mraa_pwm_write(turn_pwm, CENTER);
mraa_pwm_write(speed_pwm_in1, 1.0f);
mraa_pwm_write(speed_pwm_in2, 1.0f);
int n = 5;
int spd = 0;
char direction = 'C';
char cross_clr = 'B';
float angle = 0.0f;
while (1)
{
//sleep(2);
//readCharAry(uart,flush);
spd = 50;
mraa_uart_read(uart, buffer, 1);
if(buffer[0]=='\n')
{
printf("new line ");
mraa_uart_read(uart, buffer, 1);
if(buffer[0]=='\n')
{
printf("new line ");
mraa_uart_read(uart, buffer, 1);
}
}
mraa_uart_read(uart, buffer+1, 1);
if(buffer[1]=='\n')
{
buffer[0] = 'h';
buffer[1] = 'h';
}
int sign = 0;
if(cross_clr == 'M')
{
speed_control(speed_pwm_in1, speed_pwm_in2, 0.0f);
sleep(1);
char* nearestBeaconID = (char*)malloc(5);
getStrongestBeacon(nearestBeaconID);
printf("the nearestBeaconID is: %s\n", nearestBeaconID);
sign = 1;
angle = CENTER + 0.015f;
mraa_pwm_write(turn_pwm, angle);
usleep(15000);
speed_control(speed_pwm_in1, speed_pwm_in2, 54);
printf("speed: %d",spd);
usleep(5500000);
speed_control(speed_pwm_in1, speed_pwm_in2, 0.0f);
//sleep(1);
mraa_uart_write(uart, str, 1);
//while(!mraa_uart_data_available(uart, 10)){};
mraa_uart_read(uart, buffer, 1);
while(buffer[0] == '\n')
{
mraa_uart_read(uart, buffer, 1);
}
if(buffer[0] == '\0') direction = 'C';
mraa_uart_read(uart, buffer + 1, 1);
cross_clr = buffer[1];
}
printf("buff:%c %c %c \n",buffer[0], buffer[1],buffer[2]);
if(!sign){
if (direction == 'L') angle = CENTER - 0.005f;
if (direction == 'R') angle = CENTER + 0.005f;
if (direction == 'C') angle = CENTER;}
else
{
if (direction == 'C') angle = CENTER +0.013f;
if (direction == 'L') angle = CENTER +0.005f;
if (direction == 'R') angle = CENTER + 0.019f;
}
mraa_pwm_write(turn_pwm, angle);
speed_control(speed_pwm_in1, speed_pwm_in2, spd);
printf("speed: %d",spd);
usleep(250000);
direction = buffer[0];
cross_clr = buffer[1];
}
return 0;
}
int main() {
float speed, turn;
char speed_user_input[MAXBUFSIZ];
char turn_user_input[MAXBUFSIZ];
char time_user_input[MAXBUFSIZ];
mraa_pwm_context speed_pwm_in1, speed_pwm_in2, turn_pwm;
speed_pwm_in1 = mraa_pwm_init(3);
speed_pwm_in2 = mraa_pwm_init(5);
turn_pwm = mraa_pwm_init(6);
if (speed_pwm_in1 == NULL || speed_pwm_in2 == NULL || turn_pwm == NULL) {
fprintf(stderr, "Failed to initialized.\n");
return 1;
}
mraa_pwm_period_us(speed_pwm_in1,870); //1150Hz
mraa_pwm_enable(speed_pwm_in1, 1);
mraa_pwm_period_us(speed_pwm_in2,870);
mraa_pwm_enable(speed_pwm_in2, 1);
mraa_pwm_period_ms(turn_pwm,20);
mraa_pwm_enable(turn_pwm, 1);
mraa_pwm_write(turn_pwm, CENTER);
mraa_pwm_write(speed_pwm_in1, 1.0f);
mraa_pwm_write(speed_pwm_in2, 1.0f);
RearWheel *rw = new RearWheel();
//go for the curve
thread t1;
while(1) {
t1 = rw->threading();
printf("Turn (L, C, R): ");
scanf("%s", turn_user_input);
if (!strcmp(turn_user_input, "L") || !strcmp(turn_user_input, "l"))
turn = CENTER - 0.015f;
else if (!strcmp(turn_user_input, "C") || !strcmp(turn_user_input, "c"))
turn = CENTER;
else if (!strcmp(turn_user_input, "R") || !strcmp(turn_user_input, "r"))
turn = CENTER + 0.018f;
else {
printf("Wrong turn type!\n");
return 1;
}
printf("Speed value (-100-100): ");
scanf("%s", speed_user_input);
speed = atof(speed_user_input);
printf("time: ");
scanf("%s", time_user_input);
int time = atoi(time_user_input);
if (speed > 100 || speed < -100)
printf("Error: Choose between -100 and 100\n");
else {
mraa_pwm_write(turn_pwm, turn);
usleep(100000);
speed_control(speed_pwm_in1, speed_pwm_in2, speed);
}
sleep(time);
speed_control(speed_pwm_in1, speed_pwm_in2, 0.0f);
float count = rw->getCount();
printf("%.2f \n", count);
rw->clear();
t1.join();
}
return 0;
}
int main(int argc, char *argv[])
{
in1=mraa_gpio_init(7);
in2=mraa_gpio_init(8);
in3=mraa_gpio_init(9);
in4=mraa_gpio_init(10);
en1=mraa_pwm_init(6);
en2=mraa_pwm_init(5);
mraa_gpio_dir(in1,MRAA_GPIO_OUT);
mraa_gpio_dir(in2,MRAA_GPIO_OUT);
mraa_pwm_period_ms(en1,20);
mraa_pwm_enable(en1,1);
mraa_gpio_dir(in3,MRAA_GPIO_OUT);
mraa_gpio_dir(in4,MRAA_GPIO_OUT);
mraa_pwm_period_ms(en2,20);
mraa_pwm_enable(en2,1);
char* ptr1 = argv[1];
char* ptr2 = argv[2];
char* ptr3 = argv[3];
float param,result;
int i= atoi(ptr1);
int j=atoi(ptr2);
int k= atoi(ptr3);
if (i == -2)
{
rotate_right(2);//because 20 degrees
}
else if( i == -1)
{
rotate_right90(); //calcualte for 90 degrees
move_front(29); // 20 cms
rotate_left90(); //calculate for 90 degrees
}
else {
param=i/j;
//convert to our metrix, in terms of distance moved by robot//
result = atan((param) * 180 / PI);
if(result < 0)
{
rotate_left((int)(result/10));
}
else
{
rotate_right((int)(result/10));
}
float dist=sqrt(((i*i)+(j*j)));
if(k == 0)
{
dist = dist/3;
}
int num = (int) dist/(0.7) ;
move_front(num);
}
return 0;
}
/**
* Set period, milliseconds
*
* @param ms milliseconds for period
* @return Result of operation
*/
mraa_result_t
period_ms(int ms)
{
return mraa_pwm_period_ms(m_pwm, ms);
}
