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duck.c

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  • duck.c 1.70 KiB
    #include <stdio.h>
    #include <string.h>
    #include <unistd.h>
    #include <err.h>
    #include <stdlib.h>
    #include "../libduck/libduck.h"
    
    #define SHAKE_ANGLE 45
    #define SHAKE_T 300
    
    void shake(int motor, int number)
    {
         for (int j=0; j < number; j++) {
    	  duck_set_position(motor, -SHAKE_ANGLE);
    	  duck_delay(SHAKE_T);
    	  duck_set_position(motor, SHAKE_ANGLE);
    	  duck_delay(2 * SHAKE_T);
    	  duck_set_position(motor, 0);
    	  duck_delay(SHAKE_T);
         }
    }
    
    int main(int argc, char **argv)
    {
         int option;
         const char *fname = DEFAULT_DUCK_FNAME;
         char buf[100];
         
         while ((option=getopt(argc, argv, "t:")) != -1) {
    	  switch (option) {
    	  case 't':
    	       strncpy(buf, optarg, 100);
    	       fname = buf;
    	       break;
    	  default:
    	       printf("Usage: duck [-t TTYNAME] command\n");
    	       exit(EXIT_FAILURE);
    	       break;
    	  }
         }
    
         open_duck(fname);
         configure_duck();
         
         for (int i=optind; argv[i]; i++) {
    	  if (strcmp(argv[i], "set") == 0) {
    	       if (argv[i+1] && argv[i+2]) {
    		    int motor = atoi(argv[i+1]);
    		    int angle = atoi(argv[i+2]);
    		    duck_set_position(motor, angle);
    		    i += 2;
    	       }
    	  } else if (strcmp(argv[i], "vel") == 0) {
    	       if (argv[i+1] && argv[i+2]) {
    		    int motor = atoi(argv[i+1]);
    		    int deg_per_sec = atoi(argv[i+2]);
    		    duck_set_velocity(motor, deg_per_sec);
    		    i += 2;
    	       }
    	  } else if (strcmp(argv[i], "headshake") == 0) {
    	       if (argv[i+1]) {
    		    int numshakes = atoi(argv[i+1]);
    		    shake(MOTOR_1, numshakes);
    		    i++;
    	       }
    	  } else if (strcmp(argv[i], "nod") == 0) {
    	       if (argv[i+1]) {
    		    int numnods = atoi(argv[i+1]);
    		    shake(MOTOR_2, numnods);
    		    i++;
    	       }
    	  }
         }
         return 0;
    }