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firmware
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[no ci] Sigmastar: update motor sample

pull/1353/head
Viktor 2024-03-19 04:23:47 +01:00
parent 055573e3da
commit 74e786ed6c
1 changed files with 21 additions and 25 deletions
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46
general/package/sigmastar-motors/src/motor.c
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@ -9,9 +9,8 @@
#include <sys/ioctl.h>
#define DEV_NAME "/dev/gpiochip0"
#define STEP_TIME 500
#define STEP_COUNT 10
#define MAX_COUNT 8
#define STEP_TIME 1000
#define STEP_COUNT 20
#define SEQ_COUNT 8
int device_x5[] = {01, 02, 12, 13, 62, 63, 64, 65};
@ -82,18 +81,6 @@ int gpio_export(int *gpio) {
return 0;
}
int limit_value(int x) {
if (x < -MAX_COUNT) {
x = -MAX_COUNT;
}
if (x > MAX_COUNT) {
x = MAX_COUNT;
}
return x;
}
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)) {
@ -106,8 +93,8 @@ int main(int argc, char **argv) {
return -1;
}
int x = limit_value(argv[1] ? atoi(argv[1]) : 0);
int y = limit_value(argv[2] ? atoi(argv[2]) : 0);
int x = argv[1] ? atoi(argv[1]) : 0;
int y = argv[2] ? atoi(argv[2]) : 0;
memcpy(gpio_x, device_x5 + 0, sizeof(gpio_x));
memcpy(gpio_y, device_x5 + 4, sizeof(gpio_y));
@ -116,15 +103,24 @@ int main(int argc, char **argv) {
return -1;
}
for (int i = 0; i < abs(x) * STEP_COUNT * 2; i++) {
if (motor_control(gpio_x, (x < 0) ? SEQ_COUNT : 0)) {
goto reset;
}
}
int count_x = abs(x) ? STEP_COUNT : 0;
int count_y = abs(y) ? STEP_COUNT : 0;
for (int i = 0; i < abs(y) * STEP_COUNT; i++) {
if (motor_control(gpio_y, (y < 0) ? 0 : SEQ_COUNT)) {
goto reset;
while (count_x || count_y) {
if (count_x) {
if (motor_control(gpio_x, (x < 0) ? SEQ_COUNT : 0)) {
goto reset;
}
count_x--;
}
if (count_y) {
if (motor_control(gpio_y, (y < 0) ? 0 : SEQ_COUNT)) {
goto reset;
}
count_y--;
}
}