mirror of
https://github.com/RobotechLille/cdf2018-principal
synced 2024-05-17 04:26:00 +02:00
44 lines
708 B
C
44 lines
708 B
C
#include <pthread.h>
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#include <signal.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <time.h> // random seed
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#include <unistd.h> // sleep
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#include <wiringPi.h>
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#include "debug.h"
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#include "i2c.h"
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#include "motor.h"
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#include "position.h"
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pthread_mutex_t sRunning;
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#define VIT 1
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void endRunning(int signal)
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{
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(void)signal;
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pthread_mutex_unlock(&sRunning);
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}
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int main()
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{
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configureDebug();
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configurePosition();
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configureMotor();
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startDebug();
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debugSetActive(true);
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setMoteurTension(VIT, VIT);
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/* freewheel(); */
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long lCod, rCod;
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for (;;) {
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getCoders(&lCod, &rCod);
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printf("%10ld %10ld\n", lCod, rCod);
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usleep(100*1000);
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}
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}
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