void main()
{
t_firmata *firmata;
firmata = firmata_new("/dev/ttyACM99"); //init Firmata
while(!firmata->isReady) //Wait until device is up
firmata_pull(firmata);
firmata_pinMode(firmata, 12, MODE_INPUT); //set pin 3 (led on most arduino) to out
float buffer[10];
long int i=0;
for (i=0;i<10;i++)
{
buffer[i]=0;
}
long int stime=clock();
firmata_pull(firmata);
bool value1=firmata->pins[12].value == HIGH;
speed=0.0;
while (i<9)
{
firmata_pull(firmata);
if((firmata->pins[12].value == HIGH)^(value1))
{
buffer[i+1]=clock()-stime;
speed = PI*DIAMETER/(4.0*(buffer[i+1]-buffer[i]))*CLOCKS_PER_SEC;
}
}
int j=0;
long int etime=0;
while (1)
{
firmata_pull(firmata);
if((firmata->pins[12].value == HIGH)^(value1))
{
++i;
etime=clock();
if( float(1.0*(etime-stime)/CLOCKS_PER_SEC>SLOW)
{
speed = PI*DIAMETER/(4.0*(etime-buffer[j==0? 9:j-1]))*CLOCKS_PER_SEC;
buffer[j]=etime;
j=j==9? 0:j+1;
}
else if ( float(1.0*(etime-stime)/CLOCKS_PER_SEC>FAST))
int main()
{
t_firmata *firmata;
firmata = firmata_new("/dev/ttyACM99"); //init Firmata
while(!firmata->isReady) //Wait until device is up
firmata_pull(firmata);
firmata_pinMode(firmata, 12, MODE_INPUT); //set pin 3 (led on most arduino) to out
while (1)
{
firmata_pull(firmata);
printf("pin 12 value = %d\n", (firmata->pins[12].value == HIGH));
}
}
void encoder_updated::initialize()
{
firmata1 = firmata_new("/dev/ttyACM99"); //init Firmata
while(!firmata1->isReady)
firmata_pull(firmata1);
firmata_pinMode(firmata1, pin, MODE_INPUT);//set pin 3
for (i=0;i<10;i++)
{
buffer[i]=0;
}
bool value1=firmata1->pins[12].value == HIGH;
speed=0.0;
}
int main()
{
t_firmata *firmata;
float val;
firmata = firmata_new("/dev/ttyACM99"); //init Firmata
while(!firmata->isReady) //Wait until device is up
firmata_pull(firmata);
firmata_pinMode(firmata, 14, MODE_ANALOG); //set pin 3 (led on most arduino) to out
while (1)
{
firmata_pull(firmata);
val = firmata->pins[14].value / 1024.f;
printf("pin 14 value = %f\n", val);
}
}
int main()
{
t_firmata *firmata;
t_servo *servo;
firmata = firmata_new("/dev/ttyACM99");
while(!firmata->isReady)
firmata_pull(firmata);
sleep(1);
servo = servo_attach(firmata, 3);
int val = 10;
while (1)
{
sleep(1);
if (val++ == 180)
val = 10;
servo_write(servo, val);
}
}
int init(void){
int i;
if(parse_ini_file(arg_ini) == -1){
return -1;
}
firmata = firmata_new(serial_port); //init Firmata
if (firmata == NULL){
return -1;
}
while(!firmata->isReady) //Wait until device is up
firmata_pull(firmata);
firmata_pinMode(firmata, ledg, MODE_OUTPUT);
firmata_pinMode(firmata, ledb, MODE_OUTPUT);
firmata_pinMode(firmata, ledr, MODE_OUTPUT);
for(i=0; i<NUM_REL; i++) {
firmata_pinMode(firmata, rel[i], MODE_OUTPUT);
firmata_digitalWrite(firmata, rel[i], inv[i]);
}
return 0;
}