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[no ci] Sigmastar: update motor sample

pull/1353/head
Viktor 2024-03-18 14:41:43 +01:00
parent 67db24d710
commit 055573e3da
1 changed files with 10 additions and 2 deletions
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12
general/package/sigmastar-motors/src/motor.c
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@ -5,11 +5,12 @@
#include <string.h> #include <string.h>
#include <unistd.h> #include <unistd.h>
#include <linux/gpio.h> #include <linux/gpio.h>
#include <sys/file.h>
#include <sys/ioctl.h> #include <sys/ioctl.h>
#define DEV_NAME "/dev/gpiochip0" #define DEV_NAME "/dev/gpiochip0"
#define STEP_TIME 250 #define STEP_TIME 500
#define STEP_COUNT 4 #define STEP_COUNT 10
#define MAX_COUNT 8 #define MAX_COUNT 8
#define SEQ_COUNT 8 #define SEQ_COUNT 8
@ -63,6 +64,7 @@ int motor_control(int *gpio, int count) {
if (write_gpio(gpio[j], sequence[i][j])) { if (write_gpio(gpio[j], sequence[i][j])) {
return 1; return 1;
} }
usleep(STEP_TIME); usleep(STEP_TIME);
} }
} }
@ -93,6 +95,12 @@ int limit_value(int x) {
} }
int main(int argc, char **argv) { int main(int argc, char **argv) {
int pid = open("/var/run/motor.pid", O_RDWR | O_CREAT, 0644);
if (flock(pid, LOCK_EX | LOCK_NB)) {
printf("Control in progress\n");
return -1;
}
if (argc < 2 || argc > 3) { if (argc < 2 || argc > 3) {
printf("Usage: %s [x_step] [y_step]\n", argv[0]); printf("Usage: %s [x_step] [y_step]\n", argv[0]);
return -1; return -1;