stuff

drake/drake

@@ -5,9 +5,9 @@ res=$?
 
 if [ $res != 0 ]
 then
-    /usr/lib/duck/duck headshake 3
+    /usr/lib/duck/duck headshake 4
 else
-    /usr/lib/duck/duck nod 1
+    /usr/lib/duck/duck nod 2
 fi
 
 exit $res

duck/duck.c

@@ -27,17 +27,22 @@ void shake(int motor, int number, int min, int max, int delay)
      duck_delay(delay2);
 }
 
+int read_mode = 0;
+
 int main(int argc, char **argv)
 {
      int option;
      const char *fname = DEFAULT_DUCK_FNAME;
      char buf[100];
      
-     while ((option=getopt(argc, argv, "t:d")) != -1) {
+     while ((option=getopt(argc, argv, "+t:dr")) != -1) {
 	  switch (option) {
 	  case 'd':
 	       duck_debug_mode = 1;
 	       break;
+	  case 'r':
+	       read_mode = 1;
+	       break;
 	  case 't':
 	       strncpy(buf, optarg, 100);
 	       fname = buf;
@@ -61,11 +66,12 @@ int main(int argc, char **argv)
 		    i += 2;
 	       }
 	  } else if (strcmp(argv[i], "vel") == 0) {
-	       if (argv[i+1] && argv[i+2]) {
+	       if (argv[i+1] && argv[i+2] && argv[i+3]) {
 		    int motor = atoi(argv[i+1]);
 		    int deg_per_sec = atoi(argv[i+2]);
-		    duck_set_velocity(motor, deg_per_sec);
-		    i += 2;
+		    int ms = atoi(argv[i+3]);
+		    duck_set_velocity(motor, deg_per_sec, ms);
+		    i += 3;
 	       }
 	  } else if (strcmp(argv[i], "headshake") == 0) {
 	       if (argv[i+1]) {
@@ -87,6 +93,11 @@ int main(int argc, char **argv)
 	       }
 	  }
      }
+     if (read_mode) {
+	  while (1) {
+	       char c;
+	       if (read(duckfd, &c, 1) != 1) err(
+     close_duck();
      return 0;
 }
 

libduck/libduck.c

@@ -80,11 +80,12 @@ int duck_delay(int ms)
      return duck_printf("d %d\n", ms);
 }
 
-int duck_set_velocity(int motor, int deg_per_sec)
+/* Final position will be (deg_per_sec * ms / 1000), rounded down to nearest degree */
+int duck_set_velocity(int motor, int deg_per_sec, int ms)
 {
      if (!validate_motor(motor)) return -1;
      if (abs(deg_per_sec) > 1000) return -1;
-     return duck_printf("v %d %d\n", motor, deg_per_sec);
+     return duck_printf("v %d %d %d\n", motor, deg_per_sec, ms);
 }
 
 void close_duck(void)

libduck/libduck.h

@@ -15,7 +15,7 @@ void open_duck(const char *fname);
 void configure_duck(void);
 int duck_set_position(int motor, int angle);
 int duck_delay(int ms);
-int duck_set_velocity(int motor, int deg_per_sec);
+int duck_set_velocity(int motor, int deg_per_sec, int ms);
 void close_duck(void);
 
 #endif /* _LIBDUCK_H */