int gmx_wheel(int argc, char *argv[])
{
const char *desc[] = {
"[THISMODULE] plots a helical wheel representation of your sequence.",
"The input sequence is in the [REF].dat[ref] file where the first line contains",
"the number of residues and each consecutive line contains a residue "
"name."
};
gmx_output_env_t *oenv;
static real rot0 = 0;
static gmx_bool bNum = TRUE;
static char *title = NULL;
static int r0 = 1;
t_pargs pa [] = {
{ "-r0", FALSE, etINT, {&r0},
"The first residue number in the sequence" },
{ "-rot0", FALSE, etREAL, {&rot0},
"Rotate around an angle initially (90 degrees makes sense)" },
{ "-T", FALSE, etSTR, {&title},
"Plot a title in the center of the wheel (must be shorter than 10 characters, or it will overwrite the wheel)" },
{ "-nn", FALSE, etBOOL, {&bNum},
"Toggle numbers" }
};
t_filenm fnm[] = {
{ efDAT, "-f", NULL, ffREAD },
{ efEPS, "-o", NULL, ffWRITE }
};
#define NFILE asize(fnm)
int i, nres;
char **resnm;
if (!parse_common_args(&argc, argv, 0, NFILE, fnm, asize(pa), pa,
asize(desc), desc, 0, NULL, &oenv))
{
return 0;
}
for (i = 1; (i < argc); i++)
{
if (std::strcmp(argv[i], "-r0") == 0)
{
r0 = std::strtol(argv[++i], NULL, 10);
fprintf(stderr, "First residue is %d\n", r0);
}
else if (std::strcmp(argv[i], "-rot0") == 0)
{
rot0 = strtod(argv[++i], NULL);
fprintf(stderr, "Initial rotation is %g\n", rot0);
}
else if (std::strcmp(argv[i], "-T") == 0)
{
title = gmx_strdup(argv[++i]);
fprintf(stderr, "Title will be '%s'\n", title);
}
else if (std::strcmp(argv[i], "-nn") == 0)
{
bNum = FALSE;
fprintf(stderr, "No residue numbers\n");
}
else
{
gmx_fatal(FARGS, "Incorrect usage of option %s", argv[i]);
}
}
nres = get_lines(ftp2fn(efDAT, NFILE, fnm), &resnm);
if (bNum)
{
wheel(ftp2fn(efEPS, NFILE, fnm), nres, resnm, r0, rot0, title);
}
else
{
wheel2(ftp2fn(efEPS, NFILE, fnm), nres, resnm, rot0, title);
}
return 0;
}
int main(){
pwm_init();
MSS_GPIO_init();
range_init();
MSS_GPIO_config(MSS_GPIO_31, MSS_GPIO_OUTPUT_MODE);
UART_init(&g_uart, COREUARTAPB0_BASE_ADDR, 162, (DATA_8_BITS | NO_PARITY));
uint8_t buff[BUFFER_SIZE];
int offset = 0;
size_t received;
int joyx, joyy, cx, cy, start, fire;
int startDown = 0;
int mode = 0; // 0 for manual, 1 for automatic
uint8_t tx[100];
int txSize;
firing = 0;
curr_angle = 0;
MSS_GPIO_set_output(MSS_GPIO_31, 0);
/*while(1) {
wheel2(255);
//wheel4(255);
//wheel2(-255);
//wheel3(255);
//wheel4(-255);
}*/
while (1) {
while (!(received = UART_get_rx(&g_uart, buff+offset, sizeof(buff)-offset)));
offset += received;
//printf("Received: %d\n\r", received);
if (buff[offset-1] == '\0') { // message fully received
//printf("%s\n\r", buff);
if (6 != sscanf(buff, "%d %d %d %d %d %d", &joyx, &joyy, &cx, &cy, &fire, &start)) {
bzero(buff, BUFFER_SIZE);
continue;
}
offset = 0;
if (start && !startDown) {
mode = !mode;
startDown = 1;
}
if (!start && startDown)
startDown = 0;
joyx = joyx * .65;
joyy = joyy * .65;
if (joyx < 0)
joyx -= 150;
else if (joyx > 0)
joyx += 150;
if (joyy < 0)
joyy -= 150;
else if (joyy > 0)
joyy += 150;
printf("JoyX: %3d, JoyY: %3d, CX: %3d, CY: %3d, Fire: %d, Start: %d\n\r", joyx, joyy, cx, cy, fire, start);
wheel1(joyy);
wheel2(joyx);
wheel3(joyy);
wheel4(joyx);
moveTurret(cy);
if (fire && !firing) {
start_gun();
}
if (firing && fire_counter <= FIRE_TIME)
fire_counter++;
if (!fire && firing && fire_counter >= FIRE_TIME)
stop_gun();
}
else continue;
txSize = sprintf(tx, "%d %d", mode, get_range()) + 1;
UART_send(&g_uart, tx, txSize);
}
/*while(1){
set_gun_angle(0);
wheel1(-255);
}*/
return 0;
}