44 lines
1.0 KiB
C
44 lines
1.0 KiB
C
#include <stdio.h>
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#include <time.h>
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#include "ev3.h"
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#include "ev3_light.h"
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#include "ev3_port.h"
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#include "ev3_tacho.h"
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int main(void)
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{
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int i;
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char s[256];
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uint8_t sn;
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ev3_init();
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set_light(LIT_LEFT, LIT_AMBER);
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while (ev3_tacho_init() < 1)
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;
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printf("Found tacho motors:\n");
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for (i = 0; i < DESC_LIMIT; i++)
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{
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if (ev3_tacho[i].type_inx != TACHO_TYPE__NONE_)
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{
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printf(" type = %s\n", ev3_tacho_type(ev3_tacho[i].type_inx));
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printf(" port = %d, %s\n", i, ev3_tacho_port_name(i, s));
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int max_speed;
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get_tacho_max_speed(i, &max_speed);
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printf("max speed = %d\n", max_speed);
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set_tacho_stop_action_inx(i, TACHO_COAST);
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set_tacho_speed_sp(i, max_speed * 2 / 3);
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set_tacho_time_sp(i, 1000);
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set_tacho_ramp_up_sp(i, 0);
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set_tacho_ramp_down_sp(i, 0);
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set_tacho_command_inx(i, TACHO_RUN_TIMED);
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}
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}
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ev3_uninit();
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return 0;
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} |