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사용자:Katinor(r8 Blame)

r8
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Katinor
1||<tablealign=center><white><-11><:>스테이터스||
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2||<white><:>분노도 ||<green><:>||<white><:>||<:>||<:>||<:>||<:>||<:>||<:>||<:>||<:>||
3##||<white><:>분노도 ||<green><:>||<green><:>||<green><:>||<yellow><:>||<yellow><:>||<yellow><:>||<red><:>||<red><:>||<red><:>||<red><:>||
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6/* -------------------------------------------------------------------------
7 Include
8 ------------------------------------------------------------------------- */
9#include "../ubiconfig.h"
r3
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10
r8
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11// standard c library include
12#include <stdio.h>
13#include <sam4e.h>
14
15// ubinos library include
16#include "itf_ubinos/itf/bsp.h"
17#include "itf_ubinos/itf/ubinos.h"
18#include "itf_ubinos/itf/bsp_fpu.h"
19
20// chipset driver include
21#include "ioport.h"
22#include "pio/pio.h"
23
24// new estk driver include
25#include "lib_new_estk_api/itf/new_estk_led.h"
26#include "lib_new_estk_api/itf/new_estk_glcd.h"
27#include "lib_switch/itf/lib_switch.h"
28#include "lib_motor_driver/itf/lib_motor_driver.h"
29#include "lib_EV3_sensor/itf/lib_EV3_sensor.h"
30
31// custom library header file include
32#include "../../lib_new/itf/lib_new.h"
33
34// user header file include
35/* -------------------------------------------------------------------------
36 Global variables
37 ------------------------------------------------------------------------- */
38
39/* -------------------------------------------------------------------------
40 Prototypes
41 ------------------------------------------------------------------------- */
42static void rootfunc(void * arg);
43void sw0_isr(void);
44void sw1_isr(void);
45
46
47/* -------------------------------------------------------------------------
48 Function Definitions
49 ------------------------------------------------------------------------- */
50int usrmain(int argc, char * argv[]) {
51 int r;
52
53 printf("\n\n\n\r");
54 printf("================================================================================\n\r");
55 printf("exe_ubinos_test (build time: %s %s)\n\r", __TIME__, __DATE__);
56 printf("================================================================================\n\r");
57
58 r = task_create(NULL, rootfunc, NULL, task_getmiddlepriority(), 256, "root");
59 if (0 != r) {
60 logme("fail at task_create\r\n");
61 }
62
63 ubik_comp_start();
64
65 return 0;
66}
67void sw0_isr(void){
68 led_toggle(LED1);
69}
70
71void sw1_isr(void){
72 led_toggle(LED2);
73}
74static void rootfunc(void * arg) {
75 int sensor0;
76 int MSpeed = 0;
77
78 printf("hello world!\n\r");
79 print_add_lib_success();
80
81 printf("================================================================================\n\r");
82 printf("Initial Process Start...\r\n");
83 printf("================================================================================\n\r");
84 led_init();
85 motor_init();
86 encoder_init();
87 glcd_init();
88 mylib_comp_init();
89 switch_init(sw0_isr,sw1_isr);
90 printf("switch interrupt on");
91 ev3_sensor_init(0,COL_COLOR);
92 for(;;)
93 {
94 sensor0 = ev3_sensor_get(0);
95 /*
96 Yellow -> motor speed 500
97 RED -> motor speed -500
98 BLACK -> motor speed 1000
99 */
100 switch(sensor0)
101 {
102 case 1:
103 MSpeed = 1000;
104 break;
105 case 4:
106 MSpeed = 500;
107 break;
108 case 5:
109 MSpeed = -500;
110 break;
111 default:
112 break;
113 }
114 glcd_clear();
115 glcdGotoChar(0,0);
116 glcd_printf("color : %d \n", sensor0);
117 glcd_printf("speed : %d \n", MSpeed);
118 motor_set(0,MSpeed);
119
120
121 task_sleep(200);
122 }
123}
124
125