/* test_pwm.c */ /* asserv - Position & speed motor control on a ATmega128. {{{ * * Copyright (C) 2004 Nicolas Schodet * * Robot APB Team/Efrei 2005. * 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 #include #include #include /* +AutoDec */ /* -AutoDec */ #include "pwm.c" void proto_callback (uint8_t c, uint8_t argc, proto_arg_t argv[]) { switch (c | argc << 8) { case 'l' | 2 << 8: pwm_left = argv[0] << 8 | argv[1]; break; case 'r' | 2 << 8: pwm_right = argv[0] << 8 | argv[1]; break; default: proto_send0 ('e'); return; } pwm_update (); proto_send (c, argc, argv); } int main (void) { rs232_init (); pwm_init (); proto_init (proto_callback, rs232_putc); rs232_putc ('!'); rs232_putc ('z'); rs232_putc ('\r'); while (1) { uint8_t c = rs232_getc (); proto_accept (c); } return 0; }