diff --git a/SampleProgram/.clang-format b/SampleProgram/.clang-format new file mode 100644 index 0000000..9fa7d55 --- /dev/null +++ b/SampleProgram/.clang-format @@ -0,0 +1,2 @@ +BasedOnStyle: Google +IndentWidth: 4 \ No newline at end of file diff --git a/SampleProgram/step1.c b/SampleProgram/step1.c index 17a40eb..45feee7 100644 --- a/SampleProgram/step1.c +++ b/SampleProgram/step1.c @@ -1,30 +1,25 @@ #include "fcntl.h" -void main(void) -{ +void main(void) { int led[4]; int i; - led[0]=open("/dev/rtled0",O_WRONLY); - led[1]=open("/dev/rtled1",O_WRONLY); - led[2]=open("/dev/rtled2",O_WRONLY); - led[3]=open("/dev/rtled3",O_WRONLY); + led[0] = open("/dev/rtled0", O_WRONLY); + led[1] = open("/dev/rtled1", O_WRONLY); + led[2] = open("/dev/rtled2", O_WRONLY); + led[3] = open("/dev/rtled3", O_WRONLY); - while(1) - { - for(i=0;i<4;i++) - { - write(led[i],"1",1); + while (1) { + for (i = 0; i < 4; i++) { + write(led[i], "1", 1); } - usleep(500*1000); - for(i=0;i<4;i++) - { - write(led[i],"0",1); + usleep(500 * 1000); + for (i = 0; i < 4; i++) { + write(led[i], "0", 1); } - usleep(500*1000); + usleep(500 * 1000); } - for(i=0;i<4;i++) - { + for (i = 0; i < 4; i++) { close(led[i]); } } diff --git a/SampleProgram/step2.c b/SampleProgram/step2.c index 8c0936d..c461434 100644 --- a/SampleProgram/step2.c +++ b/SampleProgram/step2.c @@ -1,67 +1,66 @@ #include "fcntl.h" -int _Getch(void) -{ - int ch; - system("stty -echo -icanon min 1 time 0"); - ch = getchar(); - system("stty echo icanon"); - return ch; +int _Getch(void) { + int ch; + system("stty -echo -icanon min 1 time 0"); + ch = getchar(); + system("stty echo icanon"); + return ch; } -void main(void){ - int buzzer = open("/dev/rtbuzzer0",O_WRONLY); - int c=1; +void main(void) { + int buzzer = open("/dev/rtbuzzer0", O_WRONLY); + int c = 1; - while(c){ - switch(_Getch()){ - case '0'://off - write(buzzer,"0",2); - break; - case 'a'://do - write(buzzer,"261",4); - break; - case 'w'://do# - write(buzzer,"277",4); - break; - case 's'://re - write(buzzer,"293",4); - break; - case 'e'://re# - write(buzzer,"311",4); - break; - case 'd'://mi - write(buzzer,"329",4); - break; - case 'f'://fa - write(buzzer,"349",4); - break; - case 't'://fa# - write(buzzer,"370",4); - break; - case 'g' ://so - write(buzzer,"392",4); - break; - case 'y'://so# - write(buzzer,"415",4); - break; - case 'h'://ra - write(buzzer,"440",4); - break; - case 'u'://ra# - write(buzzer,"446",4); - break; - case 'j'://shi - write(buzzer,"493",4); - break; - case 'k'://do2 - write(buzzer,"523",4); - break; - case 'c': - write(buzzer,"0",2); - c=0; - break; - } - } - close(buzzer); + while (c) { + switch (_Getch()) { + case '0': // off + write(buzzer, "0", 2); + break; + case 'a': // do + write(buzzer, "261", 4); + break; + case 'w': // do# + write(buzzer, "277", 4); + break; + case 's': // re + write(buzzer, "293", 4); + break; + case 'e': // re# + write(buzzer, "311", 4); + break; + case 'd': // mi + write(buzzer, "329", 4); + break; + case 'f': // fa + write(buzzer, "349", 4); + break; + case 't': // fa# + write(buzzer, "370", 4); + break; + case 'g': // so + write(buzzer, "392", 4); + break; + case 'y': // so# + write(buzzer, "415", 4); + break; + case 'h': // ra + write(buzzer, "440", 4); + break; + case 'u': // ra# + write(buzzer, "446", 4); + break; + case 'j': // shi + write(buzzer, "493", 4); + break; + case 'k': // do2 + write(buzzer, "523", 4); + break; + case 'c': + write(buzzer, "0", 2); + c = 0; + break; + } + } + close(buzzer); } diff --git a/SampleProgram/step3.c b/SampleProgram/step3.c index 0d3a509..637f328 100644 --- a/SampleProgram/step3.c +++ b/SampleProgram/step3.c @@ -1,83 +1,81 @@ #include "fcntl.h" -char get_SW0(void){ - char buf[2]; - int SW0; - SW0 = open("/dev/rtswitch0",O_RDONLY); - read(SW0,buf,2); - close(SW0); - return buf[0]; +char get_SW0(void) { + char buf[2]; + int SW0; + SW0 = open("/dev/rtswitch0", O_RDONLY); + read(SW0, buf, 2); + close(SW0); + return buf[0]; } -char get_SW1(void){ - char buf[2]; - int SW1; - SW1 = open("/dev/rtswitch1",O_RDONLY); - read(SW1,buf,2); - close(SW1); - return buf[0]; +char get_SW1(void) { + char buf[2]; + int SW1; + SW1 = open("/dev/rtswitch1", O_RDONLY); + read(SW1, buf, 2); + close(SW1); + return buf[0]; } -char get_SW2(void){ - char buf[2]; - int SW2; - SW2 = open("/dev/rtswitch2",O_RDONLY); - read(SW2,buf,2); - close(SW2); - return buf[0]; +char get_SW2(void) { + char buf[2]; + int SW2; + SW2 = open("/dev/rtswitch2", O_RDONLY); + read(SW2, buf, 2); + close(SW2); + return buf[0]; } +void main(void) { + int state0, state1, state2; + int LED0, LED1, LED2, LED3; + LED0 = open("/dev/rtled0", O_WRONLY); + LED1 = open("/dev/rtled1", O_WRONLY); + LED2 = open("/dev/rtled2", O_WRONLY); + LED3 = open("/dev/rtled3", O_WRONLY); -void main(void){ - int state0,state1,state2; - int LED0,LED1,LED2,LED3; + state0 = state1 = state2 = 0; - LED0 = open("/dev/rtled0",O_WRONLY); - LED1 = open("/dev/rtled1",O_WRONLY); - LED2 = open("/dev/rtled2",O_WRONLY); - LED3 = open("/dev/rtled3",O_WRONLY); - - state0 = state1 = state2 = 0; - - while(1){ - if (get_SW0() =='0'){ - usleep(10000); - while (get_SW0() == '0'); - usleep(10000); - state0=(state0+1)&0x01; - if(state0==0){ - write(LED3,"0",1); - }else{ - write(LED3,"1",1); - } - } - if (get_SW1() =='0'){ - usleep(10000); - while (get_SW1() == '0'); - usleep(10000); - state1=(state1+1)&0x01; - if(state1==0){ - write(LED2,"0",1); - write(LED1,"0",1); - }else{ - write(LED2,"1",1); - write(LED1,"1",1); - } - } - if (get_SW2() =='0'){ - usleep(10000); - while (get_SW2() == '0'); - usleep(10000); - state2=(state2+1)&0x01; - if(state2==0){ - write(LED0,"0",1); - }else{ - write(LED0,"1",1); - } - } - } + while (1) { + if (get_SW0() == '0') { + usleep(10000); + while (get_SW0() == '0') + ; + usleep(10000); + state0 = (state0 + 1) & 0x01; + if (state0 == 0) { + write(LED3, "0", 1); + } else { + write(LED3, "1", 1); + } + } + if (get_SW1() == '0') { + usleep(10000); + while (get_SW1() == '0') + ; + usleep(10000); + state1 = (state1 + 1) & 0x01; + if (state1 == 0) { + write(LED2, "0", 1); + write(LED1, "0", 1); + } else { + write(LED2, "1", 1); + write(LED1, "1", 1); + } + } + if (get_SW2() == '0') { + usleep(10000); + while (get_SW2() == '0') + ; + usleep(10000); + state2 = (state2 + 1) & 0x01; + if (state2 == 0) { + write(LED0, "0", 1); + } else { + write(LED0, "1", 1); + } + } + } } - - - diff --git a/SampleProgram/step4.c b/SampleProgram/step4.c index ee635ce..7917bd8 100644 --- a/SampleProgram/step4.c +++ b/SampleProgram/step4.c @@ -1,45 +1,44 @@ #include -#include #include +#include -void main(void) -{ - int motoren = open("/dev/rtmotoren0",O_WRONLY); - int motor_l = open("/dev/rtmotor_raw_l0",O_WRONLY); - int motor_r = open("/dev/rtmotor_raw_r0",O_WRONLY); +void main(void) { + int motoren = open("/dev/rtmotoren0", O_WRONLY); + int motor_l = open("/dev/rtmotor_raw_l0", O_WRONLY); + int motor_r = open("/dev/rtmotor_raw_r0", O_WRONLY); int motor = open("/dev/rtmotor0", O_WRONLY); - + printf("Motor On\n"); - write(motoren,"1",1); - usleep(500*1000); - + write(motoren, "1", 1); + usleep(500 * 1000); + printf("Rotate counter-clockwise\n"); - write(motor_l,"-400",5); - write(motor_r,"400",5); - usleep(500*1000); - - write(motor_l,"0",5); - write(motor_r,"0",5); - usleep(500*1000); + write(motor_l, "-400", 5); + write(motor_r, "400", 5); + usleep(500 * 1000); + + write(motor_l, "0", 5); + write(motor_r, "0", 5); + usleep(500 * 1000); printf("Rotate clockwise\n"); - write(motor_l,"400",5); - write(motor_r,"-400",5); - usleep(500*1000); + write(motor_l, "400", 5); + write(motor_r, "-400", 5); + usleep(500 * 1000); - write(motor_l,"0",5); - write(motor_r,"0",5); - usleep(500*1000); + write(motor_l, "0", 5); + write(motor_r, "0", 5); + usleep(500 * 1000); printf("Rotate clockwise\n"); - write(motor,"400 -400 500",15); - usleep(500*1000); + write(motor, "400 -400 500", 15); + usleep(500 * 1000); printf("Rotate counter-clockwise\n"); - write(motor,"-400 400 500",15); - + write(motor, "-400 400 500", 15); + printf("Motor Off\n"); - write(motoren,"0",1); + write(motoren, "0", 1); close(motoren); close(motor_l); diff --git a/SampleProgram/step5.c b/SampleProgram/step5.c index a4bd539..8bcd029 100644 --- a/SampleProgram/step5.c +++ b/SampleProgram/step5.c @@ -2,19 +2,18 @@ #include #include -void main(void) -{ +void main(void) { int buff_size = 256; FILE *fp; char buff[buff_size]; - while(1){ - if ((fp = fopen("/dev/rtlightsensor0", "r")) != NULL){ - while(fgets(buff, buff_size, fp) != NULL){ + while (1) { + if ((fp = fopen("/dev/rtlightsensor0", "r")) != NULL) { + while (fgets(buff, buff_size, fp) != NULL) { printf("%s", buff); } } fclose(fp); - usleep(500*1000); + usleep(500 * 1000); } } diff --git a/SampleProgram/step6.c b/SampleProgram/step6.c index 57ff317..38ced2c 100644 --- a/SampleProgram/step6.c +++ b/SampleProgram/step6.c @@ -1,8 +1,8 @@ #include -#include #include -#include #include +#include +#include #define FILE_MOTOREN "/dev/rtmotoren0" #define FILE_MOTOR_L "/dev/rtmotor_raw_l0" @@ -11,7 +11,6 @@ #define FILE_COUNT_R "/dev/rtcounter_r0" #define BUFF_SIZE 256 - void motor_drive(char *freq_l, char *freq_r) { FILE *motor_l, *motor_r; if ((motor_l = fopen(FILE_MOTOR_L, "w")) != NULL && @@ -42,8 +41,10 @@ void print_counter(const int timeout) { while (elapsed_time < timeout) { if ((count_l = fopen(FILE_COUNT_L, "r")) != NULL && (count_r = fopen(FILE_COUNT_R, "r")) != NULL) { - while (fgets(buff_l, BUFF_SIZE, count_l) != NULL) {} - while (fgets(buff_r, BUFF_SIZE, count_r) != NULL) {} + while (fgets(buff_l, BUFF_SIZE, count_l) != NULL) { + } + while (fgets(buff_r, BUFF_SIZE, count_r) != NULL) { + } delete_newline(buff_l); delete_newline(buff_r); printf("count_l:%s, count_r:%s\n", buff_l, buff_r); @@ -70,7 +71,6 @@ void reset_counters_and_motors(void) { fclose(count_r); } - int main(void) { int motoren = open("/dev/rtmotoren0", O_WRONLY); // int motor_l = open("/dev/rtmotor_raw_l0",O_WRONLY); @@ -79,25 +79,25 @@ int main(void) { write(motoren, "1", 1); printf("Rotate left motor\n"); - usleep(500*1000); + usleep(500 * 1000); motor_drive("400", "0"); print_counter(2); reset_counters_and_motors(); printf("Rotate right motor\n"); - usleep(500*1000); + usleep(500 * 1000); motor_drive("0", "400"); print_counter(2); reset_counters_and_motors(); printf("Move forward\n"); - usleep(500*1000); + usleep(500 * 1000); motor_drive("400", "400"); print_counter(2); reset_counters_and_motors(); printf("Move backward\n"); - usleep(500*1000); + usleep(500 * 1000); motor_drive("-400", "-400"); print_counter(2); reset_counters_and_motors();