int comsumerth(void){
int i=0;
char result;
int angle=10;
int initialp=90;
int m=90;
float SM_1_duty ; /* Servomotor 1 , connect to ePWM0A */
//dequeue the data from buffer for 3000 times.
SM_1_duty = 100.0 - ((SRV_0/PER) + (initialp/180.0) * ((SRV_180-SRV_0)/PER))*100.0;
printf("Angle : %d , duty : %f\n" ,initialp ,SM_1_duty);
BBBIO_PWMSS_Setting(BBBIO_PWMSS0 , FRQ, SM_1_duty , SM_1_duty); /* Set up PWM */
BBBIO_ehrPWM_Enable(BBBIO_PWMSS0); /* Enable PWM, generate waveform */
sleep(2); /* Allow time for servo to settle and for humans to see something. */
//BBBIO_ehrPWM_Disable(BBBIO_PWMSS0);
for (i=0;i<20;i++)
{
result=dequeue();
printf("instruction dequeue: %c\n",result);
if (result=='L')
{
m=m-angle;
/* Calculate duty cycle */
/* Note: the 100-X duty cyle is to account for the level shifter that inverts */
SM_1_duty = 100.0 - ((SRV_0/PER) + (m/180.0) * ((SRV_180-SRV_0)/PER))*100.0;
printf("Angle : %d , duty : %f\n" ,m ,SM_1_duty);
BBBIO_PWMSS_Setting(BBBIO_PWMSS0 , FRQ, SM_1_duty , SM_1_duty); /* Set up PWM */
BBBIO_ehrPWM_Enable(BBBIO_PWMSS0); /* Enable PWM, generate waveform */
sleep(2); /* Allow time for servo to settle and for humans to see something. */
//BBBIO_ehrPWM_Disable(BBBIO_PWMSS0);
}
else if (result=='R')
{
m=m+angle;
/* Calculate duty cycle */
/* Note: the 100-X duty cyle is to account for the level shifter that inverts */
SM_1_duty = 100.0 - ((SRV_0/PER) + (m/180.0) * ((SRV_180-SRV_0)/PER))*100.0;
printf("Angle : %d , duty : %f\n" ,m ,SM_1_duty);
BBBIO_PWMSS_Setting(BBBIO_PWMSS0 , FRQ, SM_1_duty , SM_1_duty); /* Set up PWM */
BBBIO_ehrPWM_Enable(BBBIO_PWMSS0); /* Enable PWM, generate waveform */
sleep(2); /* Allow time for servo to settle and for humans to see something. */
//BBBIO_ehrPWM_Disable(BBBIO_PWMSS0);
}
}
return 0;
}
/*
* Class: io_silverspoon_bulldog_beagleboneblack_jni_NativePwm
* Method: enable
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_io_silverspoon_bulldog_beagleboneblack_jni_NativePwm_enable
(JNIEnv * env, jclass clazz, jint pwmId) {
BBBIO_ehrPWM_Enable(pwmId);
}
