126 lines
2.3 KiB
C
Executable File
126 lines
2.3 KiB
C
Executable File
#include<stdio.h>
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#include<fcntl.h>
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#include<string.h>
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#include<unistd.h>
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#include<string.h>
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#define BASEPATH "/sys/class/gpio/"
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#define GPIO_FOLDER "gpio%s/"
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#define PIN_MOTOR1_FORWARD "20"
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#define PIN_MOTOR1_REVERSE "13"
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#define PIN_MOTOR2_FORWARD "19"
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#define PIN_MOTOR2_REVERSE "26"
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#define MOTOR_ON 1
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#define MOTOR_OFF 0
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void writeFile(char *filename, char *buffer, size_t count)
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{
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int fd = open(filename, O_WRONLY);
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if(fd == -1) {
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perror("Fehler bei open ");
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}
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write(fd, buffer, count);
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close(fd);
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}
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void registerPin(char *pin)
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{
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writeFile(BASEPATH "export", pin, strlen(pin));
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}
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void freePin(char *pin)
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{
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writeFile(BASEPATH "unexport", pin, strlen(pin));
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}
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void setDirection(char *pin, char *direction, int dirlen)
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{
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char path[50];
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sprintf(path, BASEPATH GPIO_FOLDER "direction", pin);
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writeFile(path, direction, dirlen);
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}
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void registerOutput(char *pin)
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{
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registerPin(pin);
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setDirection(pin, "out", 3);
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}
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void writeOutput(char *pin, int state)
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{
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char path[50];
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sprintf(path, BASEPATH GPIO_FOLDER "value", pin);
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FILE *fd = fopen(path, "w");
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fprintf(fd, "%i", state);
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fclose(fd);
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}
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void forward(int motorNumber)
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{
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if(motorNumber == 1)
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{
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writeOutput(PIN_MOTOR1_FORWARD, MOTOR_ON);
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}
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else if(motorNumber == 2)
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{
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writeOutput(PIN_MOTOR2_FORWARD, MOTOR_ON);
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}
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else if(motorNumber == 3)
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{
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writeOutput(PIN_MOTOR1_FORWARD, MOTOR_ON);
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writeOutput(PIN_MOTOR2_FORWARD, MOTOR_ON);
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}
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}
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void reverse(int motorNumber)
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{
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if(motorNumber == 1)
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{
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writeOutput(PIN_MOTOR1_REVERSE, MOTOR_ON);
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}
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else if(motorNumber == 2)
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{
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writeOutput(PIN_MOTOR2_REVERSE, MOTOR_ON);
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}
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else if(motorNumber == 3)
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{
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writeOutput(PIN_MOTOR1_REVERSE, MOTOR_ON);
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writeOutput(PIN_MOTOR2_REVERSE, MOTOR_ON);
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}
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}
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int main(int argc, char* argv[])
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{
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registerOutput(PIN_MOTOR1_FORWARD);
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registerOutput(PIN_MOTOR1_REVERSE);
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registerOutput(PIN_MOTOR2_FORWARD);
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registerOutput(PIN_MOTOR2_REVERSE);
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if(strcmp(argv[1],"1")==0)
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{
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forward(1);
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}
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else if(strcmp(argv[1],"2")==0)
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{
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forward(2);
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}
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else if(strcmp(argv[1],"3")==0)
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{
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reverse(1);
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}
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else if(strcmp(argv[1],"4")==0)
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{
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reverse(2);
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}
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else if(strcmp(argv[1],"0")==0)
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{
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freePin(PIN_MOTOR1_FORWARD);
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freePin(PIN_MOTOR1_REVERSE);
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freePin(PIN_MOTOR2_FORWARD);
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freePin(PIN_MOTOR2_REVERSE);
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}
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return 0;
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}
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