tacho.cpp

/*
     ____ __     ____   ___    ____ __         (((((()
    | |_  \ \  /   ) ) | |  ) | |_  \ \  /  \(@)- /
    |_|__  \_\/  __)_) |_|_/  |_|__  \_\/   /(@)- \
                                               ((())))
 */
#include <iostream>
#include "ev3.h"
#include "ev3_tacho.h"

using namespace std;

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

#include <windows.h>

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

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

#endif

int main( void )
{
    uint8_t sn;

    cout << "Waiting the EV3 brick online..." << endl;
    if ( ev3_init() < 1 ) return ( 1 );

    ev3_tacho_init();

    cout << "*** ( EV3 ) Hello! ***" << endl;

    if ( ev3_search_tacho( LEGO_EV3_L_MOTOR, &sn, 0 )) {

        cout << "LEGO_EV3_L_MOTOR is found, run forever..." << endl;
        set_tacho_stop_action_inx( sn, TACHO_COAST );
        set_tacho_speed_sp( sn, 800 );
        set_tacho_ramp_up_sp( sn, 500 );
        set_tacho_ramp_down_sp( sn, 500 );

        set_tacho_command_inx( sn, TACHO_RUN_FOREVER );
        cout << "wait 5 sec..." << endl;
        Sleep( 5000 );
        set_tacho_command_inx( sn, TACHO_STOP );
        Sleep( 500 );
        cout << "run to relative position..." << endl;
        set_tacho_position_sp( sn, 90 );
        set_tacho_command_inx( sn, TACHO_RUN_TO_REL_POS );
        Sleep( 500 );
        cout << "again..." << endl;
        set_tacho_command_inx( sn, TACHO_RUN_TO_REL_POS );
        Sleep( 500 );
        cout << "reversed run..." << endl;
        set_tacho_position_sp( sn, -90 );
        set_tacho_command_inx( sn, TACHO_RUN_TO_REL_POS );
        Sleep( 500 );
        cout << "again..." << endl;
        set_tacho_command_inx( sn, TACHO_RUN_TO_REL_POS );
        Sleep( 500 );
    } else {
        cout << "LEGO_EV3_L_MOTOR is NOT found." << endl;
    }
    ev3_uninit();
    cout << "*** ( EV3 ) Bye! ***" << endl;

    return ( 0 );
}