From cd5086cccab78461757c6eefdbd4e0fcb3179d09 Mon Sep 17 00:00:00 2001
From: jp7g21 <jp7g21@soton.ac.uk>
Date: Sat, 13 Nov 2021 23:53:50 +0000
Subject: [PATCH] stuff
---
drake/drake | 4 ++--
duck/duck.c | 19 +++++++++++++++----
libduck/libduck.c | 5 +++--
libduck/libduck.h | 2 +-
4 files changed, 21 insertions(+), 9 deletions(-)
diff --git a/drake/drake b/drake/drake
index 3e7bd9d..ce8bbdc 100755
--- a/drake/drake
+++ b/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
diff --git a/duck/duck.c b/duck/duck.c
index 1735615..8c8f856 100644
--- a/duck/duck.c
+++ b/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;
}
diff --git a/libduck/libduck.c b/libduck/libduck.c
index 7556dfe..8fdee78 100644
--- a/libduck/libduck.c
+++ b/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)
diff --git a/libduck/libduck.h b/libduck/libduck.h
index b938702..bea82bd 100644
--- a/libduck/libduck.h
+++ b/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 */
--
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