add stop-function

project/motor.c

@@ -3,6 +3,7 @@
 #include<string.h>
 #include<unistd.h>
 #include<string.h>
+#include<stdbool.h>
 #include "gpio.h"
 
 #define PIN_MOTOR_RECHTS_FORWARD "20"
@@ -13,22 +14,29 @@
 #define MOTOR_ON 1
 #define MOTOR_OFF 0
 
-
+bool motor_rechts_forward_on = false;
+bool motor_rechts_reverse_on = false;
+bool motor_links_forward_on = false;
+bool motor_links_reverse_on = false;
 
 void forward(int motorNumber)
 {
 	if(motorNumber == 1)
 	{
 		writeOutput(PIN_MOTOR_RECHTS_FORWARD, MOTOR_ON);		
+		motor_rechts_forward_on = true;
 	}
 	else if(motorNumber == 2)
 	{
 		writeOutput(PIN_MOTOR_LINKS_FORWARD, MOTOR_ON);
+		motor_links_forward_on = true;
 	}
 	else if(motorNumber == 3)
 	{
 		writeOutput(PIN_MOTOR_RECHTS_FORWARD, MOTOR_ON);
 		writeOutput(PIN_MOTOR_LINKS_FORWARD, MOTOR_ON);
+		motor_rechts_forward_on = true;
+		motor_links_forward_on = true;
 	}		
 }
 
@@ -37,42 +45,103 @@ void reverse(int motorNumber)
 	if(motorNumber == 1)
 	{
 		writeOutput(PIN_MOTOR_RECHTS_REVERSE, MOTOR_ON);
+		motor_rechts_reverse_on = true;
 	}
 	else if(motorNumber == 2)
 	{
 		writeOutput(PIN_MOTOR_LINKS_REVERSE, MOTOR_ON);
+		motor_links_reverse_on = true;
 	}
 	else if(motorNumber == 3)
 	{
 		writeOutput(PIN_MOTOR_RECHTS_REVERSE, MOTOR_ON);
 		writeOutput(PIN_MOTOR_LINKS_REVERSE, MOTOR_ON);
+		motor_rechts_reverse_on = true;
+		motor_links_reverse_on = true;
+		
 	}
 }
 
+void stopMotor(int motorNumber)
+{
+	if(motorNumber == 1 && motor_rechts_forward_on)
+	{
+		writeOutput(PIN_MOTOR_RECHTS_FORWARD, MOTOR_OFF);
+		motor_rechts_forward_on = false;
+	}
+	else if(motorNumber == 2 && motor_links_forward_on)
+	{
+		writeOutput(PIN_MOTOR_LINKS_FORWARD, MOTOR_OFF);
+		motor_links_forward_on = false;
+	}
+	else if(motorNumber == 3 && motor_rechts_reverse_on)
+	{
+		writeOutput(PIN_MOTOR_RECHTS_REVERSE, MOTOR_OFF);
+		motor_rechts_reverse_on = false;
+	}
+	else if(motorNumber == 4 && motor_links_reverse_on)
+	{
+		writeOutput(PIN_MOTOR_LINKS_REVERSE, MOTOR_OFF);
+		motor_links_reverse_on = false;
+	}
+	
+}
+
 int main(int argc, char* argv[])
 {
 	registerOutput(PIN_MOTOR_RECHTS_FORWARD);
 	registerOutput(PIN_MOTOR_RECHTS_REVERSE);
 	registerOutput(PIN_MOTOR_LINKS_FORWARD);
 	registerOutput(PIN_MOTOR_LINKS_REVERSE);
+	
+
 	if(argc > 0)
 	{
 		if(strcmp(argv[1],"1")==0)
 		{
+			//motor_rechts_forward
 			forward(1);
 		} 
 		else if(strcmp(argv[1],"2")==0)
 		{
+			//motor_links_forward
 			forward(2);
 		} 
 		else if(strcmp(argv[1],"3")==0)
 		{
+			//motor_rechts_reverse
 			reverse(1);
 		} 
 		else if(strcmp(argv[1],"4")==0)
 		{
+			//motor_links_reverse
 			reverse(2);
 		} 
+		else if(strcmp(argv[1],"5")==0)
+		{
+
+			forward(3);
+		}
+		else if(strcmp(argv[1],"6")==0)
+		{
+			//motor_rechts_forward stop
+			stopMotor(1);
+		}
+		else if(strcmp(argv[1],"7")==0)
+		{
+			//motor_links_forward stop
+			stopMotor(2);
+		}
+		else if(strcmp(argv[1],"8")==0)
+		{
+			//motor_rechts_reverse stop
+			stopMotor(3);
+		}
+		else if(strcmp(argv[1],"9")==0)
+		{
+			//motor_links_reverse stop
+			stopMotor(4);
+		}
 		else if(strcmp(argv[1],"0")==0)
 		{
 			freePin(PIN_MOTOR_RECHTS_FORWARD);