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50 lines
1.7 KiB
50 lines
1.7 KiB
/* |
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Copyright (c) 2016, Loïc Dauphin |
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All rights reserved. |
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Redistribution and use in source and binary forms, with or without |
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modification, are permitted provided that the following conditions are met: |
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* Redistributions of source code must retain the above copyright notice, this |
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list of conditions and the following disclaimer. |
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* Redistributions in binary form must reproduce the above copyright notice, |
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this list of conditions and the following disclaimer in the documentation |
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and/or other materials provided with the distribution. |
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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#include <stdio.h> |
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#include <board.h> |
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#include <feetech/sc.hpp> |
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#include <stream/riot/uart_stream.hpp> |
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RIOT::UARTStream<> sc_uart(1, 1000000); |
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Feetech::SC<decltype(sc_uart)> sc(sc_uart); |
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int main(void) |
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{ |
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for(int i = 0 ; i < 15 ; i++) { |
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if(sc.ping(i)) { |
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u16 pos = sc.getPosition(i); |
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printf("servo %d : %d\n", i, (int)pos); |
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} |
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else { |
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printf("servo %d : unavailable\n", i); |
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} |
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} |
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return 0; |
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}
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