dc.c

/*
     ____ __     ____   ___    ____ __         (((((()
    | |_  \ \  /   ) ) | |  ) | |_  \ \  /  \(@)- /
    |_|__  \_\/  __)_) |_|_/  |_|__  \_\/   /(@)- \
                                               ((())))
 */
#include <stdio.h>
#include "ev3.h"
#include "ev3_port.h"
#include "ev3_dc.h"

// WIN32 /////////////////////////////////////////
#ifdef __WIN32__

#include <windows.h>

// UNIX //////////////////////////////////////////
#else

#include <unistd.h>
#define Sleep( msec ) usleep(( msec ) * 1000 )

#endif

int main( void )
{
    char s[ 256 ], name_port[ 16 ];
    int i;
    uint8_t sn, sn_port;
    uint8_t port = OUTPUT_B;

    printf( "Waiting the EV3 brick online...\n" );
    if ( ev3_init() < 1 ) return ( 1 );

    printf( "*** ( EV3 ) Hello! ***\n" );
    ev3_port_init();

    printf( "Set mode of the EV3 output port (%s)...\n", ev3_port_name( port, EXT_PORT__NONE_, 0, name_port ));
    sn_port = ev3_search_port( port, EXT_PORT__NONE_ );
    set_port_mode_inx( sn_port, OUTPUT_DC_MOTOR );
    if ( get_port_mode( sn_port, s, sizeof( s ))) {
        printf( "%s: %s\n", name_port, s );
    }
    Sleep( 200 );
    ev3_dc_init();

    printf( "Found DC motors:\n" );
    for ( i = 0; i < DESC_LIMIT; i++ ) {
        if ( ev3_dc[ i ].type_inx != DC_TYPE__NONE_ ) {
            printf( "  type = %s\n", ev3_dc_type( ev3_dc[ i ].type_inx ));
            printf( "  port = %s\n", ev3_dc_port_name( i, s ));
        }
    }
    if ( ev3_search_dc_plugged_in( port, EXT_PORT__NONE_, &sn, 0 )) {
        printf( "DC motor is found, run for 5 sec...\n" );
        set_dc_ramp_up_sp( sn, 2000 );
        set_dc_duty_cycle_sp( sn, 100 );
        set_dc_stop_action_inx( sn, DC_COAST );
        set_dc_command_inx( sn, DC_RUN_FOREVER );
        if ( get_dc_state( sn, s, sizeof( s ))) {
            printf( "state: %s\n", s );
        }
        Sleep( 5000 );
        set_dc_command_inx( sn, DC_STOP );
        if ( get_dc_state( sn, s, sizeof( s ))) {
            printf( "state: %s\n", s );
        }
    } else {
        printf( "DC motor is NOT found\n" );
    }
    Sleep( 200 );
    printf( "Reset mode of the EV3 output port...\n" );
    set_port_mode_inx( sn_port, OUTPUT_AUTO );
    if ( get_port_mode( sn_port, s, sizeof( s ))) {
        printf( "%s: %s\n", name_port, s );
    }
    ev3_uninit();
    printf( "*** ( EV3 ) Bye! ***\n" );

    return ( 0 );
}