app.c

读取一个电机码盘信号

#include <stdio.h>
#include <stdlib.h>
#include <errno.h>
#include <sys/time.h>
#include <sys/types.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>

#include "control.h"

#define BUFSIZE 70

int main(int argc,char *argv[])
{	int CMD,CMD1,CMDPID;
	int msg,choose,ready;
	int Finish=30;
	int Finish1;
	int ch,letdo,checkall,a,b,c,save;
	struct PID_struct PID;
	letdo=1;
	c=0;
while(letdo){
	ready=1;	// For the first time set all values
	if(check){
	PID.T=1.0;
	PID.Ti=1.0;
	PID.Kp=1.0;
	PID.TD=1.0;
	check=0;
	/* Open fifo device */
	if ((CMD = open("/dev/rtf0", O_WRONLY))<0) 
{
	fprintf(stderr, "Error opening /dev/rtf0\n");
	exit(1);
}
	if((CMD1=open("/dev/rtf2",O_RDONLY))<0)
{
	fprintf(stderr,"Error opening /dev/rtf2\n");
	exit(1);
}	
	if((CMDPID=open("/dev/rtf5",O_WRONLY))<0)
{
	fprintf(stderr,"Error opening /dev/rtf0\n");
	exit(1);
}	
}	
/*/ Set loop times
	if(c)
{	Finish=save;}
	fprintf(stderr,"\n Do you want set loop times? '1' for pass '2' for reset now is %d",Finish);
	scanf("%d",&a);
	if(a!=1)
{	fprintf(stderr,"\n input for loop times:\n");
	scanf("%d",&b);
	Finish=b;
	save=b;
	fprintf(stderr,"\n loop times is %d now\n")
}
*/
	while(ready)	//set all values
	
{	fprintf(stderr,"now T=%f,Kp=%f,Ti=%f,TD=%f\n",PID.T,PID.Kp,PID.Ti,PID.TD);
	fprintf(stderr,"do you want to reset the value?\n 1 for T, 2 for Kp, 3 for Ti, 4 for TD,5 for exit\n");
	scanf("%d",&choose);
//	getchar();
	switch(choose)
	{	case 1:
		fprintf(stderr,"input for T\n");
		scanf("%f",&PID.T);
		fprintf(stderr,"the T is %f",PID.T);
//		getchar();
		break;
		case 2:
		fprintf(stderr,"input for Kp\n");
		scanf("%f",&PID.Kp);
//		getchar();
		fprintf(stderr,"Kp is %fnow\n",PID.Kp);
		break;
		case 3:
		fprintf(stderr,"input for Ti\n");
		scanf("%f",&PID.Ti);
		getchar();
		fprintf(stderr,"Ti is %fnow\n",PID.Ti);
		break;
		case 4:
		fprintf(stderr,"input for TD\n");
		scanf("%f",&PID.TD);
//		getchar();
		fprintf(stderr,"TD is %fnow\n",PID.TD);
		break;	
		case 5:
		fprintf(stderr, "no value reset");
		break;
		default:
		fprintf(stderr,"wrong input again!\n");
		break;
	}
		fprintf(stderr, "\n Quit or set again? 1 for Quit 2 for set\n");
		scanf("%d",&ch);
	//	getchar();
		fprintf(stderr," value set done!!\n");
		if(ch==1)
		{//	fprintf(stderr,"%d",ch);
			ready=0;
		}
	}

/* send the speed command to RT-task */
	fprintf(stderr,"set the speed V=:\n");
	scanf("%d",&PID.speed);
	fprintf(stderr,"PID.speed set to be  %d \n ",PID.speed);
// change all values and set to RT-task
//	fprintf(stderr,"input for Ti= :\n");
//	scanf("%d",&Ti);
	if((write(CMDPID,&PID,sizeof(PID)))<0)
	{
	fprintf(stderr,"error when change the value of PID\n");
	exit(1);
	}	
	fprintf(stderr,"start the RT-task press 0 ,suspend it press 1");
	while(1)
	{	
	scanf("%d",&Finish1);
	if((write(CMD, &Finish1, sizeof(Finish1))) < 0)
		{
       		 fprintf(stderr, "Can't send a command to RT-task\n");
		 exit(1);
		}	

	if(Finish1)
	break;
	}
	c=1;
	fprintf(stderr,"\n#######do you want set all value again?######\n 1 for yes 2 for no\n");
	scanf("%d",&checkall);
	if(checkall==2)
	letdo=0;
}

	return 0;

}