bool UPawnAction_BlueprintBase::Start()
{
const bool bHasBeenEverStarted = HasBeenStarted();
const bool bSuperResult = Super::Start();
if (bHasBeenEverStarted == false && bSuperResult == true)
{
ActionStart(GetPawn());
}
return bSuperResult;
}
/*
* Here when a button is pressed.
*/
void
do_buttondown(GR_EVENT_BUTTON *bp)
{
ActionStart(w, bp->x, bp->y);
}
//-----------------------------------------------------------------
int
main(void)
{
struct timeval t_start,t_end;
pid_t PID ;
struct sched_param param;
int maxpri = sched_get_priority_max(SCHED_FIFO);
param.sched_priority =maxpri ;
PID =getpid();
// sched_setscheduler(PID , SCHED_FIFO ,¶m );
iolib_init();
iolib_setdir(8,11, BBBIO_DIR_OUT); // Server motor
iolib_setdir(8,12, BBBIO_DIR_OUT);
iolib_setdir(8,15, BBBIO_DIR_OUT);
iolib_setdir(8,16, BBBIO_DIR_OUT);
iolib_setdir(8,22, BBBIO_DIR_OUT);
iolib_setdir(8,23, BBBIO_DIR_OUT);
BBBIO_sys_Enable_GPIO(BBBIO_GPIO2);
BBBIO_GPIO_set_dir(BBBIO_GPIO2 , // key pad pin
BBBIO_GPIO_PIN_12 |BBBIO_GPIO_PIN_10 |BBBIO_GPIO_PIN_8 |BBBIO_GPIO_PIN_6 , // input
BBBIO_GPIO_PIN_13 |BBBIO_GPIO_PIN_11 |BBBIO_GPIO_PIN_9 |BBBIO_GPIO_PIN_7 ); // output
int i , j ;
// recover
ActionPush(SM_BUTTOM ,90 ,0);
ActionPush(SM_ARM1 ,90 ,0);
ActionPush(SM_ARM2 ,110 ,0);
ActionPush(SM_ARM3 ,150 ,0);
ActionPush(SM_HAND ,90 ,0);
ActionStart();
Angle_Arm_1 =90 ;
Angle_Arm_2 =110 ;
Angle_Arm_3 =150;
Angle_Hand =90 ;
Angle_Buttom = 90 ;
//-----------------------------------------
// create 4x4 scan therad
pthread_t pid_4x4 ;
int ret ;
ret = pthread_create(&pid_4x4, NULL, (void *)Thread_4x4_scan, NULL);
//-----------------------------------------
usleep(100000);
float max_Angle =0 ;
for(j=0 ;j <5 ; j ++)
{
for(i=0 ; i<7 ;i++)
{
ActionPush(SM_BUTTOM ,Action[i][0] ,0);
ActionPush(SM_ARM1 ,Action[i][1] ,0);
ActionPush(SM_ARM2 ,Action[i][2] ,0);
ActionPush(SM_ARM3 ,Action[i][3] ,0);
ActionPush(SM_HAND ,Action[i][4] ,0);
ActionStart();
}
}
/*
while(key_status[3][3]==1) //f
{
ActionPush(SM_BUTTOM ,Angle_Buttom ,0);
ActionPush(SM_ARM1 ,Angle_Arm_1 ,0);
ActionPush(SM_ARM2 ,Angle_Arm_2 ,0);
ActionPush(SM_ARM3 ,Angle_Arm_3 ,0);
ActionPush(SM_HAND ,Angle_Hand ,0);
ActionStart();
}
*/
ActionPush(SM_BUTTOM ,90 ,0);
ActionPush(SM_ARM1 ,90 ,0);
ActionPush(SM_ARM2 ,110 ,0);
ActionPush(SM_ARM3 ,150 ,0);
ActionPush(SM_HAND ,90 ,0);
ActionStart();
//---------------------------
pthread_join(pid_4x4,NULL);
printf("Finish\n");
iolib_free();
return(0);
}
