From e8e2142059ba9a34d54975d32022fa9596772849 Mon Sep 17 00:00:00 2001
From: jp7g21 <jp7g21@soton.ac.uk>
Date: Sat, 13 Nov 2021 17:14:31 +0000
Subject: [PATCH] Wrote duck cli
---
duck/Makefile | 12 ++++++++
duck/duck.c | 76 ++++++++++++++++++++++++++++++++++++++++++++++++++
duck/udev-rule | 1 +
3 files changed, 89 insertions(+)
create mode 100644 duck/Makefile
create mode 100644 duck/duck.c
create mode 100644 duck/udev-rule
diff --git a/duck/Makefile b/duck/Makefile
new file mode 100644
index 0000000..3a80c70
--- /dev/null
+++ b/duck/Makefile
@@ -0,0 +1,12 @@
+duck: duck.c ../libduck/libduck.so
+ cc duck.c -o duck -L ../libduck -l duck
+
+.PHONY: clean install
+
+clean:
+ rm -f duck
+
+install: duck
+ install -T -D -m 555 duck /usr/lib/duck/duck && \
+ install -T udev-rule /etc/udev/rules.d/80-duck.rules && \
+ udevadm control -R
diff --git a/duck/duck.c b/duck/duck.c
new file mode 100644
index 0000000..cf2c4d3
--- /dev/null
+++ b/duck/duck.c
@@ -0,0 +1,76 @@
+#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;
+}
+
diff --git a/duck/udev-rule b/duck/udev-rule
new file mode 100644
index 0000000..d03f158
--- /dev/null
+++ b/duck/udev-rule
@@ -0,0 +1 @@
+ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE="666"
\ No newline at end of file
--
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