void setmotoroutput(unsigned char motornum, unsigned char motorchannel, fixedpointnum fpvalue)
{
// set the output of a motor
// convert from fixedpoint 0 to 1 into int 1000 to 2000
int value = 1000 + ((fpvalue * 1000L) >> FIXEDPOINTSHIFT);
if (value < ARMED_MIN_MOTOR_OUTPUT)
value = ARMED_MIN_MOTOR_OUTPUT;
if (value > MAX_MOTOR_OUTPUT)
value = MAX_MOTOR_OUTPUT;
setoutput(motorchannel, value);
global.motoroutputvalue[motornum] = value;
}
int main(int argc, const char *argv[])
{
int i, j, max;
bool filenames_only;
filenames_only = 0;
i = 1;
for(i = 1; i < argc; ++i) {
if(argv[i][0] == '-' && !filenames_only) {
if(argv[i][1] == '-') {
// long options
if(argv[i][2] == '0') {
filenames_only = 1;
}
else if(strcmp(argv[i] + 2, "help") == 0) {
usage(argv[0]);
/*NOTREACHED*/
}
else if(strcmp(argv[i] + 2, "force") == 0) {
g_force = true;
}
else if(strcmp(argv[i] + 2, "output") == 0) {
i++;
if(i >= argc) {
fprintf(stderr, "<no file>:0: error: expected a path after --output\n");
usage(argv[0]);
/*NOTREACHED*/
}
setoutput(argv[i]);
}
else {
fprintf(stderr, "<no file>:0: error: unknown option '%s'\n", argv[i]);
usage(argv[0]);
/*NOTREACHED*/
}
}
else {
max = static_cast<int>(strlen(argv[i]));
for(j = 1; j < max; ++j) {
switch(argv[i][j]) {
case 'f':
g_force = true;
break;
default:
fprintf(stderr, "<no file>:0: error: unknown option '-%c'\n", argv[i][j]);
case 'h':
usage(argv[0]);
/*NOTREACHED*/
case 'o':
/* hmmm 1 */
i++;
if(i >= argc) {
fprintf(stderr, "<no file>:0: error: expected a path after --output\n");
usage(argv[0]);
/*NOTREACHED*/
}
setoutput(argv[i]);
/* hmmm 2 */
j = max;
break;
}
}
}
}
else {
parse(argv[i]);
}
}
return g_errcnt > 0 ? 1 : 0;
}
