87 lines
1.4 KiB
C
Executable File
87 lines
1.4 KiB
C
Executable File
#include<stdio.h>
|
|
#include<fcntl.h>
|
|
#include<string.h>
|
|
#include<unistd.h>
|
|
#include<string.h>
|
|
#include "gpio.h"
|
|
|
|
|
|
|
|
|
|
#define PIN_MOTOR1_FORWARD "20"
|
|
#define PIN_MOTOR1_REVERSE "13"
|
|
#define PIN_MOTOR2_FORWARD "19"
|
|
#define PIN_MOTOR2_REVERSE "26"
|
|
|
|
#define MOTOR_ON 1
|
|
#define MOTOR_OFF 0
|
|
|
|
|
|
|
|
void forward(int motorNumber)
|
|
{
|
|
if(motorNumber == 1)
|
|
{
|
|
writeOutput(PIN_MOTOR1_FORWARD, MOTOR_ON);
|
|
}
|
|
else if(motorNumber == 2)
|
|
{
|
|
writeOutput(PIN_MOTOR2_FORWARD, MOTOR_ON);
|
|
}
|
|
else if(motorNumber == 3)
|
|
{
|
|
writeOutput(PIN_MOTOR1_FORWARD, MOTOR_ON);
|
|
writeOutput(PIN_MOTOR2_FORWARD, MOTOR_ON);
|
|
}
|
|
}
|
|
|
|
void reverse(int motorNumber)
|
|
{
|
|
if(motorNumber == 1)
|
|
{
|
|
writeOutput(PIN_MOTOR1_REVERSE, MOTOR_ON);
|
|
}
|
|
else if(motorNumber == 2)
|
|
{
|
|
writeOutput(PIN_MOTOR2_REVERSE, MOTOR_ON);
|
|
}
|
|
else if(motorNumber == 3)
|
|
{
|
|
writeOutput(PIN_MOTOR1_REVERSE, MOTOR_ON);
|
|
writeOutput(PIN_MOTOR2_REVERSE, MOTOR_ON);
|
|
}
|
|
}
|
|
|
|
int main(int argc, char* argv[])
|
|
{
|
|
registerOutput(PIN_MOTOR1_FORWARD);
|
|
registerOutput(PIN_MOTOR1_REVERSE);
|
|
registerOutput(PIN_MOTOR2_FORWARD);
|
|
registerOutput(PIN_MOTOR2_REVERSE);
|
|
if(strcmp(argv[1],"1")==0)
|
|
{
|
|
forward(1);
|
|
}
|
|
else if(strcmp(argv[1],"2")==0)
|
|
{
|
|
forward(2);
|
|
}
|
|
else if(strcmp(argv[1],"3")==0)
|
|
{
|
|
reverse(1);
|
|
}
|
|
else if(strcmp(argv[1],"4")==0)
|
|
{
|
|
reverse(2);
|
|
}
|
|
else if(strcmp(argv[1],"0")==0)
|
|
{
|
|
freePin(PIN_MOTOR1_FORWARD);
|
|
freePin(PIN_MOTOR1_REVERSE);
|
|
freePin(PIN_MOTOR2_FORWARD);
|
|
freePin(PIN_MOTOR2_REVERSE);
|
|
}
|
|
|
|
return 0;
|
|
}
|