int main(void) { smart_car_set(30, 0); return 0; }
int main(void) { smart_car_set(30, 0); //speed=30 Angel=0 return 0; }
int main(void) { //int fd; char *buf="front!"; //fd = open("test.txt",O_CREAT,0); // write(fd,buf,7); //printf("front!\n"); smart_car_set(0, 50); //speed=30 Angel=0 // close(fd); return 0; }
int hrobot_tcp_receive(TCP_CTRL_FRAME *frame, uint8_t *buf) { int n,i; int fd; int16_t angle,speed; char cmdbuf[5]="0000"; while(1){ angle=0x0000; speed=0x0000; memset(frame,0,sizeof(TCP_CTRL_FRAME)); memset(buf,0,HROBOT_TCP_MAX_DATA_LENGTH); if ((n = recv(clfd,frame, HROBOT_TCP_CTRL_FRAME_SIZE, 0)) > 0) { frame->cmd = ntohs(frame->cmd); frame->length = ntohs(frame->length); syslog(LOG_ERR,"frame_CTR:recv %d data",n); syslog(LOG_ERR,"cmd:%d, length:%d",frame->cmd, frame->length); /* cmdbuf[0]='0'+frame->cmd/10; cmdbuf[1]='0'+frame->cmd%10; cmdbuf[2]='0'+frame->length/10; cmdbuf[3]='0'+frame->length%10; cmdbuf[4]='Z'; if ((fd=open("/home/boat/state_tcp.txt",O_WRONLY|O_CREAT|O_APPEND,S_IRUSR | S_IWUSR | S_IRGRP | S_IROTH))<0) syslog(LOG_ERR,"fd=%d open error \n",fd); if (write(fd,&cmdbuf,5)<0) syslog(LOG_ERR,"write error \n"); close(fd); */ } else{ return 0; } if ((n = recv(clfd, buf, frame->length, 0)) > 0) { syslog(LOG_ERR,"frame_DATA:recv %d data",n); for(i=0;i<n;++i) syslog(LOG_DEBUG,"recv data:%x",buf[i]); angle=(buf[1]<<8)|buf[0]; speed=(buf[3]<<8)|buf[2]; syslog(LOG_DEBUG,"angle=%d,speed=%d",angle,speed); smart_car_set(speed,angle); } else{ return 0; } } }
int main(void) { smart_car_set(90, 30); return 0; }
int main(void) { smart_car_set(0, -60); return 0; }