Changeset 436

Timestamp:

02/18/07 17:34:57 (2 years ago)

Author:

anthony_rowe

Message:

added a SI (set input) command

Files:

• trunk/projects/cmucam2/cmucam2.c (modified) (3 diffs)

trunk/projects/cmucam2/cmucam2.c

@@ -65 +65 @@
-  SERVO_OUTPUT,
-  GET_SERVO,
+  SET_INPUT,
+  GET_INPUT,
-  SET_TRACK,
-  CMUCAM2_CMD_END               // Must be last entry so array sizes are correct
@@ -115 +117 @@
-  // SP servo parameters
-  cmucam2_cmds[SERVO_PARAMETERS] = "SP";
+  cmucam2_cmds[GET_INPUT] = "GI";
+  cmucam2_cmds[SET_INPUT] = "SI";
-
-
@@ -685 +689 @@
-        printf("%d\r", cc3_gpio_get_servo_position(arg_list[0]));
-        break;
+        
+      case GET_INPUT:
+        if (n != 0) {
+          error = true;
+          break;
+        }
+
+        print_ACK ();
+        printf("%d\r",  cc3_gpio_get_value(arg_list[0])|
+                        (cc3_gpio_get_value(arg_list[1])<<1)|
+                        (cc3_gpio_get_value(arg_list[2])<<2)|
+                        (cc3_gpio_get_value(arg_list[3])<<3)  );
+        break;
+
+
+      case SET_INPUT:
+        if (n != 1) {
+          error = true;
+          break;
+        }
+        print_ACK ();
+        cc3_gpio_set_mode (arg_list[0], CC3_GPIO_MODE_INPUT);
+
+        break;
-
-      case SERVO_OUTPUT: