int main()
{
CL::Motors motors;
CL::Sensors sensors;
sensors.Calibrate(3.0f);
CL::Controller controller;
while(1)
{
sensors.Update();
controller.Update(sensors.orientation, 0.3f);
motors.SetSpeed(CL::Motors::Motor::FrontLeft, controller.GetSpeed(CL::Motors::Motor::FrontLeft));
motors.SetSpeed(CL::Motors::Motor::FrontRight, controller.GetSpeed(CL::Motors::Motor::FrontRight));
motors.SetSpeed(CL::Motors::Motor::BackLeft, controller.GetSpeed(CL::Motors::Motor::BackLeft));
motors.SetSpeed(CL::Motors::Motor::BackRight, controller.GetSpeed(CL::Motors::Motor::BackRight));
}
motors.SetSpeed(CL::Motors::Motor::FrontLeft, 0.0f);
motors.SetSpeed(CL::Motors::Motor::FrontRight, 0.0f);
motors.SetSpeed(CL::Motors::Motor::BackLeft, 0.0f);
motors.SetSpeed(CL::Motors::Motor::BackRight, 0.0f);
mraa_deinit();
return MRAA_SUCCESS;
}
int main(int argc, char** argv)
{
mraa_uart_context uart;
uart = mraa_uart_init(0);
mraa_uart_set_baudrate(uart, 9600);
if (uart == NULL) {
fprintf(stderr, "UART failed to setup\n");
printf("UART fialed");
return EXIT_FAILURE;
}
char buffer[] = "Hello Mraa!";
// mraa_uart_write(uart, buffer, sizeof(buffer));
printf("buffer: ");
char* current;
while(1){
printf("%c",buffer[1]);
mraa_uart_read(uart, buffer, 9);
printf("buff:%c %c %c %c %c %c %c %c %c\n",buffer[0], buffer[1],
buffer[2], buffer[3], buffer[4], buffer[5], buffer[6], buffer[7],
buffer[8] );
sleep(1);
}
// mraa_uart_stop(uart);
mraa_deinit();
return EXIT_SUCCESS;
}
int main()
{
CL::Motors motors;
CL::Display display;
displayText("Connect the\nBatterie", display);
motors.SetSpeed(CL::Motors::Motor::FrontLeft, 1.0f);
motors.SetSpeed(CL::Motors::Motor::FrontRight, 1.0f);
motors.SetSpeed(CL::Motors::Motor::BackLeft, 1.0f);
motors.SetSpeed(CL::Motors::Motor::BackRight, 1.0f);
usleep(10000000);
motors.SetSpeed(CL::Motors::Motor::FrontLeft, 0.0f);
motors.SetSpeed(CL::Motors::Motor::FrontRight, 0.0f);
motors.SetSpeed(CL::Motors::Motor::BackLeft, 0.0f);
motors.SetSpeed(CL::Motors::Motor::BackRight, 0.0f);
usleep(5000000);
display.Clear();
mraa_deinit();
return MRAA_SUCCESS;
}
mkInterface::~mkInterface() {
if ( gpio )
delete gpio;
mraa_deinit();
fprintf(stdout, "\nGoodbye mraa\n\n" );
}
int main(int argc, char** argv)
{
const char* board_name = mraa_get_platform_name();
int i2c_bus, i, i2c_adapter;
fprintf(stdout, "hello mraa\n Version: %s\n Running on %s\n",
mraa_get_version(), board_name);
mraa_deinit();
return MRAA_SUCCESS;
}
int
main(int argc, char** argv)
{
mraa_uart_context uart;
uart = mraa_uart_init(0);
if (uart == NULL) {
fprintf(stdout, "UART failed to setup\n");
}
mraa_deinit();
return 0;
}
int main()
{
signal(SIGINT, sigkill);
signal(SIGQUIT, sigkill);
signal(SIGTERM, sigkill);
CL::Display display;
_display = &display;
displayText("Calibra...\nDON'T MOVE", display);
CL::Sensors sensors;
// sensors.Calibrate(20.0f);
CL::Network network;
displayText("Waiting", display);
while(!network.GetIsStarted())
{
network.Update();
usleep(1000);
}
CL::Motors motors;
CL::Controller controller;
_motors = &motors;
displayText("Active", display);
while(network.GetIsStarted() && network.GetIsConnected())
{
network.Update();
sensors.Update();
controller.Update(sensors.orientation, CL::Quaternion(network.GetTargetOrientation()), network.GetUpSpeed());
network.SendOrientation(sensors.orientation.GetEulerAngle());
motors.SetSpeed(CL::Motors::Motor::FrontLeft, controller.GetSpeed(CL::Motors::Motor::FrontLeft));
motors.SetSpeed(CL::Motors::Motor::FrontRight, controller.GetSpeed(CL::Motors::Motor::FrontRight));
motors.SetSpeed(CL::Motors::Motor::BackLeft, controller.GetSpeed(CL::Motors::Motor::BackLeft));
motors.SetSpeed(CL::Motors::Motor::BackRight, controller.GetSpeed(CL::Motors::Motor::BackRight));
}
motors.SetSpeed(CL::Motors::Motor::FrontLeft, 0.0f);
motors.SetSpeed(CL::Motors::Motor::FrontRight, 0.0f);
motors.SetSpeed(CL::Motors::Motor::BackLeft, 0.0f);
motors.SetSpeed(CL::Motors::Motor::BackRight, 0.0f);
display.Clear();
mraa_deinit();
return MRAA_SUCCESS;
}
void sigkill(int signum)
{
if(_motors)
{
_motors->SetSpeed(CL::Motors::Motor::FrontLeft, 0.0f);
_motors->SetSpeed(CL::Motors::Motor::FrontRight, 0.0f);
_motors->SetSpeed(CL::Motors::Motor::BackLeft, 0.0f);
_motors->SetSpeed(CL::Motors::Motor::BackRight, 0.0f);
}
if(_display)
{
_display->Clear();
}
mraa_deinit();
exit(0);
}
int main(int argc, char *argv[])
{
mraa_init();
fprintf(stdout, "Hello mraa.\nVersion: %s\n", mraa_get_version());
// LED
out = mraa_gpio_init(20);
if(out == NULL){
printf("Error: init out.\r\n");
return 1;
}
mraa_gpio_dir(out, MRAA_GPIO_OUT);
// Switch
mraa_gpio_context in = mraa_gpio_init(14);
if(in == NULL){
printf("Error: init in.\r\n");
return 1;
}
mraa_gpio_dir(in, MRAA_GPIO_IN);
mraa_gpio_mode(in, MRAA_GPIO_PULLUP);
// 割込関数の登録
mraa_gpio_isr(in, MRAA_GPIO_EDGE_BOTH, interrupt_in, (void *)in);
while(1) {}
mraa_gpio_isr_exit(in);
mraa_gpio_close(in);
mraa_gpio_close(out);
mraa_deinit();
return 0;
}
int main(UNUSED(int argc), UNUSED(char** argv))
{
uint32_t tso = rdtsc32();
stdio_mode(STDIO_MODE_CANON);
// initialize mraa and software SPI
mraa_init();
printf("MRAA paltform %s, version %s\n", mraa_get_platform_name(), mraa_get_version());
mraa_spi_sw_context spi = sw_spi_init(MRAA_SCK, MRAA_MOSI, MRAA_MISO);
// initialize RFM12BS
rfm12_t rfm;
memset(&rfm, 0, sizeof(rfm));
rfm12_init_spi(&rfm, spi, MRAA_CS1, MRAA_GP047);
rfm12_init(&rfm, 0xD4, RFM12_BAND_868, 868.0, RFM12_BPS_9600);
rfm12_set_mode(&rfm, RFM_MODE_RX);
printf("started up in %u msec\n", millis(tso));
// default application configuration
cfg.flags |= APPF_ECHO_DAN;
cfg.rfm = &rfm;
// initialize command line interface
console_io_t cli;
memset(&cli, 0, sizeof(cli));
cli.prompt = '>';
cli.data = &cfg;
stdio_init(&cli, stdio_cmd_handler);
stdio_mode(STDIO_MODE_RAW);
dnode_t node;
while(!cli.stop) {
cli.interact(&cli, cli_cmd);
if (rfm12_receive_data(&rfm, &node, sizeof(node), cfg.flags & RFM_RX_DEBUG) == sizeof(node)) {
rfm12_set_mode(&rfm, RFM_MODE_RX);
if (node.nid == NODE_TSYNC) {
tso = rdtsc32();
ts_unpack(&node);
cfg.rtc_hour = node.hour;
cfg.rtc_min = node.min;
cfg.rtc_sec = node.sec;
}
if (cfg.flags & APPF_ECHO_DAN)
print_node(&cli, &node);
}
if (millis(tso) >= 1000) {
tso = rdtsc32();
if (++cfg.rtc_sec == 60) {
cfg.rtc_sec = 0;
if (++cfg.rtc_min == 60) {
cfg.rtc_min = 0;
if (++cfg.rtc_hour == 24)
cfg.rtc_hour = 0;
}
}
}
usleep(1); // be nice
}
stdio_mode(STDIO_MODE_CANON);
rfm12_close_spi(&rfm);
sw_spi_close(spi);
mraa_deinit();
}
int main()
{
int sampleCount = 0;
int sampleRate = 0;
uint64_t rateTimer;
uint64_t displayTimer;
uint64_t now;
// Using RTIMULib here allows it to use the .ini file generated by RTIMULibDemo.
// Or, you can create the .ini in some other directory by using:
// RTIMUSettings *settings = new RTIMUSettings("<directory path>", "RTIMULib");
// where <directory path> is the path to where the .ini file is to be loaded/saved
RTIMUSettings *settings = new RTIMUSettings("RTIMULib");
RTIMU *imu = RTIMU::createIMU(settings);
if ((imu == NULL) || (imu->IMUType() == RTIMU_TYPE_NULL)) {
printf("No IMU found\n");
exit(1);
}
// This is an opportunity to manually override any settings before the call IMUInit
// set up IMU
imu->IMUInit();
// this is a convenient place to change fusion parameters
imu->setSlerpPower(0.02);
imu->setGyroEnable(true);
imu->setAccelEnable(true);
imu->setCompassEnable(true);
// Set up serial out UART ports
mraa_uart_context uart;
//uart = mraa_uart_init(0);
uart=mraa_uart_init_raw("/dev/ttyGS0");
mraa_uart_set_baudrate(uart, 9600);
if (uart == NULL) {
fprintf(stderr, "UART failed to setup\n");
return 0;
}
char buffer[20]={}; // To hold output
while (1) {
while (imu->IMURead()) {
RTIMU_DATA imuData = imu->getIMUData();
//sleep(1);
printf("%s\r", RTMath::displayDegrees("Gyro", imuData.fusionPose) );
//printf("\nx %f ",imuData.gyro.x()*(180.0/3.14));
//printf("\ny %f ",imuData.gyro.y()*(180.0/3.14));
//printf("\nz %f\n",imuData.gyro.z()*(180.0/3.14));
sprintf(buffer,"%4f\n",imuData.fusionPose.x()*(180.0/3.14));
mraa_uart_write(uart, buffer, sizeof(buffer));
printf("\n\n");
//imuData.
fflush(stdout);
//displayTimer = now;
}
}
mraa_uart_stop(uart);
mraa_deinit();
}
int
main(int argc, char** argv)
{
mraa_result_t status = MRAA_SUCCESS;
mraa_spi_context spi;
int i, j;
/* initialize mraa for the platform (not needed most of the times) */
mraa_init();
//! [Interesting]
/* initialize SPI bus */
spi = mraa_spi_init(SPI_BUS);
if (spi == NULL) {
fprintf(stderr, "Failed to initialize SPI\n");
mraa_deinit();
return EXIT_FAILURE;
}
/* set SPI frequency */
status = mraa_spi_frequency(spi, SPI_FREQ);
if (status != MRAA_SUCCESS)
goto err_exit;
/* set big endian mode */
status = mraa_spi_lsbmode(spi, 0);
if (status != MRAA_SUCCESS) {
goto err_exit;
}
/* MAX7219/21 chip needs the data in word size */
status = mraa_spi_bit_per_word(spi, 16);
if (status != MRAA_SUCCESS) {
fprintf(stdout, "Failed to set SPI Device to 16Bit mode\n");
goto err_exit;
}
/* do not decode bits */
mraa_spi_write_word(spi, 0x0900);
/* brightness of LEDs */
mraa_spi_write_word(spi, 0x0a05);
/* show all scan lines */
mraa_spi_write_word(spi, 0x0b07);
/* set display on */
mraa_spi_write_word(spi, 0x0c01);
/* testmode off */
mraa_spi_write_word(spi, 0x0f00);
while (flag) {
/* set display pattern */
mraa_spi_write_buf_word(spi, pat, 16);
sleep(2);
/* set inverted display pattern */
mraa_spi_write_buf_word(spi, pat_inv, 16);
sleep(2);
/* clear the LED's */
mraa_spi_write_buf_word(spi, pat_clear, 16);
/* cycle through all LED's */
for (i = 1; i <= 8; i++) {
for (j = 0; j < 8; j++) {
mraa_spi_write_word(spi, (i << 8) + (1 << j));
sleep(1);
}
mraa_spi_write_word(spi, i << 8);
}
}
/* stop spi */
mraa_spi_stop(spi);
//! [Interesting]
/* deinitialize mraa for the platform (not needed most of the times) */
mraa_deinit();
return EXIT_SUCCESS;
err_exit:
mraa_result_print(status);
/* stop spi */
mraa_spi_stop(spi);
/* deinitialize mraa for the platform (not needed most of the times) */
mraa_deinit();
return EXIT_FAILURE;
}
// Finally done, exiting
void closeMRAA( void ) {
mraa_deinit();
}
void serial_close(void){
mraa_uart_stop(uart);
mraa_deinit();}