--- /dev/null
+import lejos.hardware.lcd.LCD;
+import lejos.hardware.motor.EV3LargeRegulatedMotor;
+import lejos.hardware.port.MotorPort;
+import lejos.hardware.sensor.EV3TouchSensor;
+import lejos.hardware.sensor.EV3UltrasonicSensor;
+import lejos.hardware.sensor.NXTLightSensor;
+import lejos.robotics.SampleProvider;
+import lejos.utility.Delay;
+
+import java.util.Random;
+
+import lejos.hardware.*;
+import lejos.hardware.ev3.LocalEV3;
+
+public class Main {
+
+ static float BLACK_LINE = (float) 0.5;
+ static float SOMETHING_IN_FRONT = (float) 0.24;
+ static float SOMETHING_IN_LEFT = 1;
+ static float SOMETHING_IN_RIGHT = 1;
+ static int MINIMUM_TURN = 120;
+ static int MAXIMUM_TURN = 180;
+
+ static EV3LargeRegulatedMotor leftMotor, rightMotor;
+ static EV3TouchSensor touchLeftSensor, touchRightSensor;
+ static NXTLightSensor lightSensor;
+ static EV3UltrasonicSensor distanceSensor;
+
+ private static Random rnd = new Random();
+ private static long StartTime = 0;
+
+ public static void main(String[] args) {
+ leftMotor = new EV3LargeRegulatedMotor(MotorPort.A);
+ rightMotor = new EV3LargeRegulatedMotor(MotorPort.D);
+
+ touchLeftSensor = new EV3TouchSensor(LocalEV3.get().getPort("S1"));
+ touchRightSensor = new EV3TouchSensor(LocalEV3.get().getPort("S4"));
+ lightSensor = new NXTLightSensor(LocalEV3.get().getPort("S2"));
+ distanceSensor = new EV3UltrasonicSensor(LocalEV3.get().getPort("S3"));
+
+ SampleProvider touchLeft = touchLeftSensor.getTouchMode(), touchRight = touchRightSensor.getTouchMode(),
+ light = lightSensor.getRedMode(), distance = distanceSensor.getDistanceMode();
+
+ float[] touchLeftSamples = new float[touchLeft.sampleSize()],
+ touchRightSamples = new float[touchRight.sampleSize()], lightSamples = new float[light.sampleSize()],
+ distanceSamples = new float[distance.sampleSize()];
+
+ // Main Looping
+ while (!Button.ESCAPE.isDown()) {
+ StartTime = System.currentTimeMillis();
+
+ touchLeft.fetchSample(touchLeftSamples, 0);
+ touchRight.fetchSample(touchRightSamples, 0);
+ light.fetchSample(lightSamples, 0);
+ distance.fetchSample(distanceSamples, 0);
+
+ LCD.drawString("TL: " + touchLeftSamples[0], 0, 0);
+ LCD.drawString("TR: " + touchRightSamples[0], 0, 1);
+ LCD.drawString("LI: " + lightSamples[0], 0, 2);
+ LCD.drawString("DI: " + distanceSamples[0], 0, 3); // distance in
+ // meter
+
+ if (lightSamples[0] < BLACK_LINE) {
+ LCD.drawString("BLACK", 0, 4);
+ Stop();
+ if (rnd.nextBoolean()) {
+ TurnLeft(GetRandomTurn());
+ } else {
+ TurnRight(GetRandomTurn());
+ }
+ } else {
+ LCD.drawString("WHITE", 0, 4);
+ GoForward();
+ }
+
+ if (distanceSamples[0] < SOMETHING_IN_FRONT) {
+ LCD.drawString("STOP", 0, 5);
+ } else {
+ LCD.drawString("GO ", 0, 5);
+ }
+
+ LCD.drawString("T: " + (System.currentTimeMillis() - StartTime), 0, 6);
+
+ if (System.currentTimeMillis() - StartTime < 450) {
+
+ }
+ }
+ }
+
+ public static int GetRandomTurn() {
+ return rnd.nextInt((MAXIMUM_TURN - MINIMUM_TURN) + 1) + MINIMUM_TURN;
+ }
+
+ public static void GoForward() {
+ leftMotor.setSpeed(300);
+ rightMotor.setSpeed(300);
+
+ leftMotor.forward();
+ rightMotor.forward();
+ }
+
+ public static void GoBack() {
+ leftMotor.setSpeed(300);
+ rightMotor.setSpeed(300);
+
+ leftMotor.backward();
+ rightMotor.backward();
+ Delay.msDelay(100);
+ Stop();
+
+ }
+
+ public static void Stop() {
+ leftMotor.stop(true);
+ rightMotor.stop();
+ }
+
+ public static void TurnRight(int degree) {
+ leftMotor.rotate(degree, true);
+ rightMotor.rotate(-degree);
+ }
+
+ public static void TurnLeft(int degree) {
+ leftMotor.rotate(-degree, true);
+ rightMotor.rotate(degree);
+
+ }
+}
\ No newline at end of file
--- /dev/null
+###### CONFIGURATION ######
+
+### List of applications to be build
+APPLICATIONS = ex11a
+
+### Note: to override the search path for the xeno-config script, use "make XENO=..."
+
+
+### List of modules to be build
+MODULES =
+
+### Note: to override the kernel source path, use "make KSRC=..."
+
+
+
+###### USER SPACE BUILD (no change required normally) ######
+ifeq ($(KERNELRELEASE),)
+ifneq ($(APPLICATIONS),)
+
+### Default Xenomai installation path
+XENO ?= /usr/xenomai
+
+XENOCONFIG=$(shell PATH=$(XENO):$(XENO)/bin:$(PATH) which xeno-config 2>/dev/null)
+
+### Sanity check
+ifeq ($(XENOCONFIG),)
+all::
+ @echo ">>> Invoke make like this: \"make XENO=/path/to/xeno-config\" <<<"
+ @echo
+endif
+
+
+CC=$(shell $(XENOCONFIG) --cc)
+
+CFLAGS=$(shell $(XENOCONFIG) --xeno-cflags) $(MY_CFLAGS)
+
+LDFLAGS=$(shell $(XENOCONFIG) --xeno-ldflags) $(MY_LDFLAGS) -lnative
+
+# This includes the library path of given Xenomai into the binary to make live
+# easier for beginners if Xenomai's libs are not in any default search path.
+LDFLAGS+=-Xlinker -rpath -Xlinker $(shell $(XENOCONFIG) --libdir)
+
+LDFLAGS+= -lrtdk
+
+all:: $(APPLICATIONS)
+
+clean::
+ $(RM) $(APPLICATIONS) *.o
+
+endif
+endif
+
+
+
+###### SPECIAL TARGET RULES ######
+rtprint: rtprint.c
+ $(CC) $(CFLAGS) $? $(LDFLAGS) -lrtdk -o $@
+
+
+
+###### KERNEL MODULE BUILD (no change required normally) ######
+ifneq ($(MODULES),)
+
+### Default to sources of currently running kernel
+KSRC ?= /lib/modules/$(shell uname -r)/build
+
+OBJS := ${patsubst %, %.o, $(MODULES)}
+CLEANMOD := ${patsubst %, .%*, $(MODULES)}
+PWD := $(shell if [ "$$PWD" != "" ]; then echo $$PWD; else pwd; fi)
+
+### Kernel 2.6
+ifeq ($(findstring 2.6,$(KSRC)),2.6)
+
+obj-m := $(OBJS)
+EXTRA_CFLAGS := -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/posix $(ADD_CFLAGS)
+
+all::
+ $(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules
+
+### Kernel 2.4
+else
+
+ARCH ?= $(shell uname -i)
+INCLUDE := -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/compat -I$(KSRC)/include/xenomai/posix
+CFLAGS += $(shell $(MAKE) -s -C $(KSRC) CC=$(CC) ARCH=$(ARCH) SUBDIRS=$(PWD) modules) $(INCLUDE)
+
+all:: $(OBJS)
+
+endif
+
+## Target for capturing 2.4 module CFLAGS
+modules:
+ @echo "$(CFLAGS)"
+
+clean::
+ $(RM) $(CLEANMOD) *.o *.ko *.mod.c Module*.symvers
+ $(RM) -R .tmp*
+
+endif
\ No newline at end of file
--- /dev/null
+#include <stdio.h>
+#include <signal.h>
+#include <unistd.h>
+#include <sys/mman.h>
+#include <native/intr.h>
+#include <sys/io.h>
+#include <native/task.h>
+
+const RTIME period = 1e5;
+const int nsamples = 10000;
+
+RT_TASK task;
+RTIME write_time;
+RTIME arr_write_time[10000];
+RTIME time_diff[10000];
+
+void do_task(void *arg)
+{
+ int i;
+ rt_task_set_periodic(NULL, TM_NOW, period);
+
+ for(i=0; i<nsamples; i++)
+ {
+ write_time = rt_timer_read();
+ arr_write_time[i] = write_time;
+
+ rt_task_wait_period(NULL);
+
+ time_diff[i] = rt_timer_read() - write_time;
+ }
+}
+
+//startup code
+void startup()
+{
+ rt_task_create(&task, NULL,0,50,0);
+ rt_task_start(&task, &do_task, NULL);
+}
+
+void init_xenomai() {
+ /* Avoids memory swapping for this program */
+ mlockall(MCL_CURRENT|MCL_FUTURE);
+
+ /* Perform auto-init of rt_print buffers if the task doesn't do so */
+ rt_print_auto_init(1);
+}
+
+int main(int argc, char* argv[])
+{
+ printf("\nType CTRL-C to end this program\n\n" );
+
+ // code to set things to run xenomai
+ init_xenomai();
+
+ //startup code
+ startup();
+
+ // wait for CTRL-c is typed to end the program
+ pause();
+}
\ No newline at end of file
repositories / des2015.git / commitdiff