// io_cmd.cc // nono - programme du robot 2004. {{{ // // Copyright (C) 2004 Nicolas Schodet // // Robot APB Team/Efrei 2004. // Web: http://assos.efrei.fr/robot/ // Email: robot AT efrei DOT fr // // This program is free software; you can redistribute it and/or modify // it under the terms of the GNU General Public License as published by // the Free Software Foundation; either version 2 of the License, or // (at your option) any later version. // // This program is distributed in the hope that it will be useful, // but WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the // GNU General Public License for more details. // // You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. // // }}} #include "io_cmd.h" #include "gpio.h" #include "servo.h" #include #include const char ioHelp[] = " o set des sorties.\n" " i get des entrées.\n" " d dir des entrées/sorties.\n" " m déplace le servo n de diff.\n" " M déplace le servo n en pos.\n"; bool ioCmd (int argc, char **argv, int &i, Gpio &io, Servo &servo) { int n, bits, nb; switch (argv[i][0]) { case 'o': i++; if (i >= argc) break; n = atoi (argv[i++]); if (i >= argc) break; bits = atoi (argv[i++]); if (i >= argc) break; nb = atoi (argv[i++]); std::cout << "test: set " << n << ' ' << std::hex << bits << std::dec << ' ' << nb << std::endl; io.set (n, bits, nb); break; case 'i': i++; if (i >= argc) break; n = atoi (argv[i++]); if (i >= argc) break; nb = atoi (argv[i++]); std::cout << "test: get " << n << ' ' << nb << std::endl; bits = io.get (n, nb); std::cout << "test: get result " << std::hex << bits << std::dec << std::endl; break; case 'd': i++; if (i >= argc) break; n = atoi (argv[i++]); if (i >= argc) break; bits = atoi (argv[i++]); if (i >= argc) break; nb = atoi (argv[i++]); std::cout << "test: dir " << n << ' ' << std::hex << bits << std::dec << ' ' << nb << std::endl; io.dir (n, bits, nb); break; case 'm': i++; int diff; if (i >= argc) break; n = atoi (argv[i++]); if (i >= argc) break; diff = atoi (argv[i++]); std::cout << "test: servo move " << n << ' ' << diff << std::endl; servo.move (n, diff); break; case 'M': i++; int pos; if (i >= argc) break; n = atoi (argv[i++]); if (i >= argc) break; pos = atoi (argv[i++]); std::cout << "test: servo moveTo " << n << ' ' << pos << std::endl; servo.moveTo (n, pos); break; default: return false; } return true; }