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add stop-function

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kawaii
2017-04-25 11:30:45 +00:00
parent 3cd610acf1
commit acb09659b6
1 changed files with 70 additions and 1 deletions
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71
project/motor.c
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@@ -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);