int main(int argc, char** argv)
{
int fd,i;
char input;
fd = roomba_init(argv[1]);
roomba_safe(fd);
tcflush(fd,TCIOFLUSH);
struct roomba_sensor_data sensor_data;
while(1)
{
printf("bump sensors 0x%x\n",sensor_data.bumps_wheeldrops);
printf("wall 0x%x\n",sensor_data.wall);
printf("left cliff sensor 0x%x\n",sensor_data.cliff_left);
printf("front left cliff sensor 0x%x\n",sensor_data.cliff_front_left);
printf("chage is %d\n",sensor_data.charge);
printf("Buttons are 0x%x\n",sensor_data.buttons);
roomba_read_sensor_data(fd,&sensor_data);
input = getc(stdin);
if(input=='q')
return(0);
}
roomba_free(fd);
return(0);
}
/**
* main function for processing android connection.
*/
int main (void)
{
/* システムクロックは32MHz */
CLKDIV = 0x0100;
/* LEDの初期化 */
led_init ();
/* ボタンの初期化 */
button_init ();
/* roombaモジュールの初期化 */
roomba_init ();
/* androidモジュールの初期化 */
android_init ();
/* サーボの初期化 */
// servo_init ();
// メインループ
for (;;) {
/* andoridの更新 */
android_update ();
}
}
int main(int argc, char *argv[])
{
char* serialport;
speed_t baud = B57600;
fprintf(stderr, argv[0]);
if ((!strncmp((argv[0]+strlen(argv[0])-13), "simpletest500",13))) {
fprintf(stderr,"roomba 500 series\n");
baud = B115200; // running as simpletest500 sets baud rate to 115200
}
if( argc>1 && strcmp(argv[1],"-p" )==0 ) {
serialport = argv[2];
} else {
usage();
}
roombadebug = 1;
Roomba* roomba = roomba_init( serialport, baud );
roomba_forward( roomba );
roomba_delay(1000);
roomba_backward( roomba );
roomba_delay(1000);
roomba_spinleft( roomba );
roomba_delay(1000);
roomba_spinright( roomba );
roomba_delay(1000);
roomba_stop( roomba );
roomba_close( roomba );
roomba_free( roomba );
return 0;
}
