applys new motor functions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c79cb64..ad96aa0 100644 (file)
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,6 +31,9 @@ ADD_EXECUTABLE(${PROJECT_NAME}
        ${PROJECT_ROOT_DIR}/src/log.c
        ${PROJECT_ROOT_DIR}/src/resource.c
        ${PROJECT_ROOT_DIR}/src/resource/resource_infrared_obstacle_avoidance_sensor.c
+    ${PROJECT_ROOT_DIR}/src/resource/resource_motor_driver_L298N.c
+    ${PROJECT_ROOT_DIR}/src/resource/resource_PCA9685.c
+    ${PROJECT_ROOT_DIR}/src/resource/resource_servo_motor.c
 )
 
 TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${pkgs_LDFLAGS} -lm)

diff --git a/inc/resource.h b/inc/resource.h
index 4fb9f04..49719c1 100644 (file)
--- a/inc/resource.h
+++ b/inc/resource.h
@@ -23,5 +23,7 @@
 #define __POSITION_FINDER_RESOURCE_H__
 
 #include "resource/resource_infrared_obstacle_avoidance_sensor.h"
+#include "resource/resource_motor_driver_L298N.h"
+#include "resource/resource_servo_motor.h"
 
 #endif /* __POSITION_FINDER_RESOURCE_H__ */

diff --git a/src/app.c b/src/app.c
index 5783915..0de042d 100644 (file)
--- a/src/app.c
+++ b/src/app.c
@@ -21,7 +21,6 @@
 #include <glib.h>
 #include <service_app.h>
 #include "log.h"
-#include "dc_motor.h"
 #include "resource.h"
 
 enum {
@@ -59,6 +58,19 @@ static void service_app_low_memory(app_event_info_h event_info, void *user_data)
        return;
 }
 
+static int __servo_motor_test(void)
+{
+       resource_set_motor_driver_L298N_speed(MOTOR_ID_1, 0);
+       resource_set_motor_driver_L298N_speed(MOTOR_ID_2, 0);
+       resource_set_servo_motor_value(0, 400);
+       sleep(1);
+       resource_set_servo_motor_value(0, 500);
+       sleep(1);
+       resource_set_servo_motor_value(0, 450);
+       sleep(1);
+       return 0;
+}
+
 static void ___________control_motor(app_data *ad)
 {
        _D("control motor, state(%u), f_val(%u), r_val(%u)",
@@ -66,43 +78,47 @@ static void ___________control_motor(app_data *ad)
 
 
        switch (ad->dir_state) {
-               case DIR_STATE_F:
-                       if (ad->f_value)  {
-                               if (ad->r_value) {
-                                       ad->dir_state = DIR_STATE_S;
-                                       dc_motor_speed_set(DC_MOTOR_ID_L, 0);
-                                       dc_motor_speed_set(DC_MOTOR_ID_R, 0);
-                               } else {
-                                       ad->dir_state = DIR_STATE_B;
-                                       dc_motor_speed_set(DC_MOTOR_ID_L, -2000);
-                                       dc_motor_speed_set(DC_MOTOR_ID_R, -2000);
-                               }
-                       }
-                       break;
-               case DIR_STATE_B:
-                       if (ad->r_value)  {
-                               if (ad->f_value) {
-                                       ad->dir_state = DIR_STATE_S;
-                                       dc_motor_speed_set(DC_MOTOR_ID_L, 0);
-                                       dc_motor_speed_set(DC_MOTOR_ID_R, 0);
-                               } else {
-                                       ad->dir_state = DIR_STATE_F;
-                                       dc_motor_speed_set(DC_MOTOR_ID_L, 2000);
-                                       dc_motor_speed_set(DC_MOTOR_ID_R, 2000);
-                               }
+       case DIR_STATE_F:
+               if (ad->f_value)  {
+                       if (ad->r_value) {
+                               ad->dir_state = DIR_STATE_S;
+                               resource_set_motor_driver_L298N_speed(MOTOR_ID_1, 0);
+                               resource_set_motor_driver_L298N_speed(MOTOR_ID_2, 0);
+                       } else {
+                               ad->dir_state = DIR_STATE_B;
+                               __servo_motor_test();
+                               resource_set_motor_driver_L298N_speed(MOTOR_ID_1, -2000);
+                               resource_set_motor_driver_L298N_speed(MOTOR_ID_2, -2000);
                        }
-                       break;
-               case DIR_STATE_S:
-                       if (!ad->f_value)  {
+               }
+               break;
+       case DIR_STATE_B:
+               if (ad->r_value)  {
+                       if (ad->f_value) {
+                               ad->dir_state = DIR_STATE_S;
+                               resource_set_motor_driver_L298N_speed(MOTOR_ID_1, 0);
+                               resource_set_motor_driver_L298N_speed(MOTOR_ID_2, 0);
+                       } else {
                                ad->dir_state = DIR_STATE_F;
-                               dc_motor_speed_set(DC_MOTOR_ID_L, 2000);
-                               dc_motor_speed_set(DC_MOTOR_ID_R, 2000);
-                       } else if (!ad->r_value) {
-                               ad->dir_state = DIR_STATE_B;
-                               dc_motor_speed_set(DC_MOTOR_ID_L, -2000);
-                               dc_motor_speed_set(DC_MOTOR_ID_R, -2000);
+                               __servo_motor_test();
+                               resource_set_motor_driver_L298N_speed(MOTOR_ID_1, 2000);
+                               resource_set_motor_driver_L298N_speed(MOTOR_ID_2, 2000);
                        }
-                       break;
+               }
+               break;
+       case DIR_STATE_S:
+               if (!ad->f_value)  {
+                       ad->dir_state = DIR_STATE_F;
+                       __servo_motor_test();
+                       resource_set_motor_driver_L298N_speed(MOTOR_ID_1, 2000);
+                       resource_set_motor_driver_L298N_speed(MOTOR_ID_2, 2000);
+               } else if (!ad->r_value) {
+                       ad->dir_state = DIR_STATE_B;
+                       __servo_motor_test();
+                       resource_set_motor_driver_L298N_speed(MOTOR_ID_1, -2000);
+                       resource_set_motor_driver_L298N_speed(MOTOR_ID_2, -2000);
+               }
+               break;
        }
 
        return;
@@ -138,9 +154,19 @@ static bool service_app_create(void *data)
 {
        int ret = 0;
 
-       ret = dc_motor_init();
+       /*
+        * if you want to use default configuration,
+        * Do not need to call resource_set_motor_driver_L298N_configuration(),
+        *
+       */
+       ret = resource_set_motor_driver_L298N_configuration(MOTOR_ID_1, 19, 16, 5);
        if (ret) {
-               _E("failed init motor, terminating this application");
+               _E("resource_set_motor_driver_L298N_configuration()");
+               service_app_exit();
+       }
+       ret = resource_set_motor_driver_L298N_configuration(MOTOR_ID_2, 26, 20, 4);
+       if (ret) {
+               _E("resource_set_motor_driver_L298N_configuration()");
                service_app_exit();
        }
 
@@ -152,11 +178,17 @@ static void service_app_control(app_control_h app_control, void *data)
        app_data *ad = data;
        int ret;
 
+       /* set speed 0, to reduce delay of initializing motor driver */
+       resource_set_motor_driver_L298N_speed(MOTOR_ID_1, 0);
+       resource_set_motor_driver_L298N_speed(MOTOR_ID_2, 0);
+
        resource_read_infrared_obstacle_avoidance_sensor(FRONT_PIN, &ad->f_value);
        resource_read_infrared_obstacle_avoidance_sensor(REAR_PIN, &ad->r_value);
 
-       resource_set_infrared_obstacle_avoidance_sensor_interrupted_cb(FRONT_PIN, _front_ioa_sensor_changed_cb, ad);
-       resource_set_infrared_obstacle_avoidance_sensor_interrupted_cb(REAR_PIN, _back_ioa_sensor_changed_cb, ad);
+       resource_set_infrared_obstacle_avoidance_sensor_interrupted_cb(FRONT_PIN,
+               _front_ioa_sensor_changed_cb, ad);
+       resource_set_infrared_obstacle_avoidance_sensor_interrupted_cb(REAR_PIN,
+               _back_ioa_sensor_changed_cb, ad);
 
        ___________control_motor(ad);
 
@@ -167,7 +199,6 @@ static void service_app_terminate(void *data)
 {
        app_data *ad = data;
 
-       dc_motor_fini();
        log_file_close();
 
        _D("Bye ~");

diff --git a/src/resource.c b/src/resource.c
index 1454937..d16c5be 100644 (file)
--- a/src/resource.c
+++ b/src/resource.c
@@ -41,4 +41,6 @@ void resource_close_all(void)
                if (resource_info[i].close)
                        resource_info[i].close(i);
        }
+       resource_close_motor_driver_L298N_all();
+       resource_close_servo_motor_all();
 }