276 lines
8.3 KiB
C++
276 lines
8.3 KiB
C++
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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/** This program will step through various test of the analog and digital IO
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* on the Versalogic VSBC-6/8 and EBX-12 boards.
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**/
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#include <Aria.h>
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int main(void)
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{
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int i, j;
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bool EBX12 = true;
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ArVersalogicIO amrioIO;
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if (!amrioIO.isEnabled())
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{
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printf("Device disabled! Exiting....\n");
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return 0;
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}
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// double an0, an1, an2, an3, an4, an5, an6, an7;
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bool retval;
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printf("\nsetting digital banks to outputs\n");
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{
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retval = amrioIO.setDigitalBankDirection(0, ArVersalogicIO::DIGITAL_OUTPUT);
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printf("Bank 0:\t%d\n", retval);
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retval = amrioIO.setDigitalBankDirection(1, ArVersalogicIO::DIGITAL_OUTPUT);
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printf("Bank 1:\t%d\n", retval);
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if (EBX12)
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{
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retval = amrioIO.setDigitalBankDirection(2, ArVersalogicIO::DIGITAL_OUTPUT);
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printf("Bank 2:\t%d\n", retval);
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retval = amrioIO.setDigitalBankDirection(3, ArVersalogicIO::DIGITAL_OUTPUT);
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printf("Bank 3:\t%d\n", retval);
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}
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}
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unsigned char bits[33];
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for (i=0;i<32;i++)
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bits[i] = 0x30;
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bits[32] = 0x0;
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printf("\nwriting data to banks\n");
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for (i=0;i<4;i++)
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{
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printf("\r%s", bits);
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fflush(stdout);
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for (j=0;j<=7;j++)
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{
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bits[j] = 0x31;
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if (!(retval = amrioIO.setDigitalBankOutputs(0, (unsigned char) 1 << j)))
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printf("\nretval %d on bit %d\n", retval, j);
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else
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printf("\r%32s", bits);
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bits[j] = 0x30;
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fflush(stdout);
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ArUtil::sleep(100);
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// bits[j] = 0x30;
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}
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// clear out the last bit
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if (!(retval = amrioIO.setDigitalBankOutputs(0, (unsigned char) 0)))
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printf("\nretval %d on bit 7\n", retval);
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for (j=8;j<=15;j++)
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{
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bits[j] = 0x31;
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if (!(retval = amrioIO.setDigitalBankOutputs(1, (unsigned char) 1 << (j-8))))
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printf("\nretval %d on bit %d\n", retval, j);
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else
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printf("\r%s", bits);
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bits[j] = 0x30;
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fflush(stdout);
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ArUtil::sleep(100);
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// bits[j] = 0x30;
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}
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// clear out the last bit
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if (!(retval = amrioIO.setDigitalBankOutputs(1, (unsigned char) 0)))
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printf("\nretval %d on bit 15\n", retval);
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if (EBX12)
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{
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for (j=16;j<=23;j++)
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{
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bits[j] = 0x31;
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if (!(retval = amrioIO.setDigitalBankOutputs(2, (unsigned char) 1 << (j-16))))
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printf("\nretval %d on bit %d\n", retval, j);
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else
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printf("\r%s", bits);
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bits[j] = 0x30;
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fflush(stdout);
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ArUtil::sleep(100);
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// bits[j] = 0x30;
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}
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// clear out the last bit
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if (!(retval = amrioIO.setDigitalBankOutputs(2, (unsigned char) 0)))
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printf("\nretval %d on bit 23\n", retval);
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for (j=24;j<=31;j++)
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{
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bits[j] = 0x31;
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if (!(retval = amrioIO.setDigitalBankOutputs(3, (unsigned char) 1 << (j-24))))
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printf("\nretval %d on bit %d\n", retval, j);
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else
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printf("\r%s", bits);
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bits[j] = 0x30;
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fflush(stdout);
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ArUtil::sleep(100);
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// bits[j] = 0x30;
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}
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// clear out the last bit
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if (!(retval = amrioIO.setDigitalBankOutputs(3, (unsigned char) 0)))
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printf("\nretval %d on bit 31\n", retval);
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}
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}
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for (i=0;i<32;i++)
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bits[i] = 0x31;
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printf("\n\nsetting all digital outputs high\n");
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if (!(retval = amrioIO.setDigitalBankOutputs(0, 0xFF)))
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printf("\nretval %d on bank 0\n", retval);
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if (!(retval = amrioIO.setDigitalBankOutputs(1, 0xFF)))
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printf("\nretval %d on bank 1\n", retval);
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if (EBX12)
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{
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if (!(retval = amrioIO.setDigitalBankOutputs(2, 0xFF)))
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printf("\nretval %d on bank 2\n", retval);
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if (!(retval = amrioIO.setDigitalBankOutputs(3, 0xFF)))
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printf("\nretval %d on bank 3\n", retval);
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}
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printf("%s\n", bits);
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fflush(stdout);
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ArUtil::sleep(2000);
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for (i=0;i<32;i++)
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bits[i] = 0x30;
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printf("\nsetting all digital outputs low\n");
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if (!(retval = amrioIO.setDigitalBankOutputs(0, 0)))
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printf("\nretval %d on bank 0\n", retval);
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if (!(retval = amrioIO.setDigitalBankOutputs(1, 0)))
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printf("\nretval %d on bank 1\n", retval);
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if (EBX12)
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{
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if (!(retval = amrioIO.setDigitalBankOutputs(2, 0)))
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printf("\nretval %d on bank 2\n", retval);
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if (!(retval = amrioIO.setDigitalBankOutputs(3, 0)))
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printf("\nretval %d on bank 3\n", retval);
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}
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printf("%s\n", bits);
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fflush(stdout);
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ArUtil::sleep(2000);
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printf("\n\nsetting digital banks to inputs\n");
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{
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retval = amrioIO.setDigitalBankDirection(0, ArVersalogicIO::DIGITAL_INPUT);
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printf("Bank 0:\t%d\n", retval);
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retval = amrioIO.setDigitalBankDirection(1, ArVersalogicIO::DIGITAL_INPUT);
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printf("Bank 1:\t%d\n", retval);
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if (EBX12)
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{
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retval = amrioIO.setDigitalBankDirection(2, ArVersalogicIO::DIGITAL_INPUT);
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printf("Bank 2:\t%d\n", retval);
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retval = amrioIO.setDigitalBankDirection(3, ArVersalogicIO::DIGITAL_INPUT);
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printf("Bank 3:\t%d\n", retval);
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}
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}
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for (i=0;i<32;i++)
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bits[i] = 0x30;
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printf("\ngetting digital input values\n");
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unsigned char bank;
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if (!(retval = amrioIO.getDigitalBankInputs(0, &bank)))
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printf("\nretval %d on bank 0\n", retval);
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for (i=0;i<8;i++)
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if (bank & ( 1 << i ))
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bits[i] = 0x31;
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if (!(retval = amrioIO.getDigitalBankInputs(1, &bank)))
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printf("\nretval %d on bank 1\n", retval);
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for (i=0;i<8;i++)
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if (bank & ( 1 << i ))
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bits[i+8] = 0x31;
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if (EBX12)
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{
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if (!(retval = amrioIO.getDigitalBankInputs(2, &bank)))
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printf("\nretval %d on bank 2\n", retval);
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for (i=0;i<8;i++)
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if (bank & ( 1 << i ))
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bits[i+16] = 0x31;
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if (!(retval = amrioIO.getDigitalBankInputs(3, &bank)))
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printf("\nretval %d on bank 3\n", retval);
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for (i=0;i<8;i++)
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if (bank & ( 1 << i ))
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bits[i+24] = 0x31;
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}
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printf("Digital input values:\n");
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printf("%s\n", bits);
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printf("\n");
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/*
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unsigned char bank0, bank1, bank2, bank3;
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printf("Digital Low High An0 An1 An2 An3 An4 An5 An6 An7\n");
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an0 = 0;
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an1 = 0;
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an2 = 0;
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an3 = 0;
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an4 = 0;
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an5 = 0;
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an6 = 0;
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an7 = 0;
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while(true)
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{
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if (!amrioIO.getDigitalBankInputs(0, &bank0))
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printf("getDigitalBank 0 failed\n");
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if (!amrioIO.getDigitalBankInputs(1, &bank1))
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printf("getDigitalBank 1 failed\n");
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if (EBX12)
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{
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if (!amrioIO.getDigitalBankInputs(2, &bank2))
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printf("getDigitalBank 2 failed\n");
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if (!amrioIO.getDigitalBankInputs(3, &bank3))
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printf("getDigitalBank 3 failed\n");
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}
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retval = amrioIO.getAnalogValue(0, &an0);
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if (!retval)
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printf("an0 failed\n");
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retval = amrioIO.getAnalogValue(1, &an1);
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if (!retval)
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printf("an1 failed\n");
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retval = amrioIO.getAnalogValue(2, &an2);
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if (!retval)
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printf("an2 failed\n");
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retval = amrioIO.getAnalogValue(3, &an3);
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if (!retval)
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printf("an3 failed\n");
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retval = amrioIO.getAnalogValue(4, &an4);
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if (!retval)
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printf("an4 failed\n");
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retval = amrioIO.getAnalogValue(5, &an5);
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if (!retval)
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printf("an5 failed\n");
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retval = amrioIO.getAnalogValue(6, &an6);
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if (!retval)
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printf("an6 failed\n");
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retval = amrioIO.getAnalogValue(7, &an7);
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if (!retval)
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printf("an7 failed\n");
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printf("\r\t%.2x %.2x", bank0, bank1);
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if (EBX12)
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printf(" %.2x %.2x", bank2, bank3);
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printf(" %.4f %.4f %.4f %.4f %.4f %.4f %.4f %.4f", an0, an1, an2, an3, an4, an5, an6, an7);
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fflush(stdout);
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ArUtil::sleep(1000);
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}
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*/
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printf("\n");
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}
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