test_motor.c

/*
 The contents of this file are subject to the "do whatever you like"-license.
 That means: Do, whatver you want, this file is under public domain. It is an
 example for ev3c. Copy it and learn from it for your project and release
 it under every license you want. ;-)
 For feedback and questions about my Files and Projects please mail me,
 Alexander Matthes (Ziz) , ziz_at_mailbox.org, http://github.com/theZiz
*/

#include "ev3c.h"

#include <stdio.h>

int main(int argc,char** argv)
{
	int i;
	//Loading all motors
	ev3_motor_ptr motors = ev3_load_motors();
	//Interating over the motors and printing some interesting data
	ev3_motor_ptr motor = motors;
	while (motor)
	{
		ev3_reset_motor(motor);
		printf("==== %s ====\n",motor->driver_name);
		printf("ident: %i\n",motor->driver_identifier);
		printf("motor: %i\n",motor->motor_nr);
		printf("port: %c\n",motor->port);
		printf("command count: %i\n",motor->command_count);
		for (i = 0; i < motor->command_count; i++)
			printf("command[%i]: %s\n",i,motor->commands[i]);
		printf("stop_command count: %i\n",motor->stop_command_count);
		for (i = 0; i < motor->stop_command_count; i++)
			printf("stop_command[%i]: %s\n",i,motor->stop_commands[i]);
		printf("stop_command %i is choosen.\n",motor->stop_command);
		//Let's open the motors ;)
		ev3_open_motor(motor);
		motor = motor->next;
	}
	
	//Lets set the first motor to coast mode and the second one to stop:
	ev3_stop_command_motor_by_name( motors, "coast");
	ev3_stop_command_motor_by_name( motors->next, "brake");
	
	//Lets set the first motor to 30% and the second to 200 counts/s
	ev3_set_duty_cycle_sp( motors, 50 );
	ev3_set_speed_sp( motors->next, 500 );
	
	//Lets set the first motor to run for 2 seconds and the
	//second on to run one full rotation (360 degree)
	ev3_set_time_sp( motors, 2000 );
	ev3_set_ramp_up_sp( motors, 500);
	ev3_set_ramp_down_sp( motors, 1000);
	
	ev3_set_position( motors->next, 0 );
	ev3_set_position_sp( motors->next, 360 );

	ev3_command_motor_by_name( motors, "run-timed");
	ev3_command_motor_by_name( motors->next, "run-to-rel-pos");
	
	//Waiting for the second motor to get to holding position
	while (
		(ev3_motor_state( motors       ) & MOTOR_RUNNING) ||
		(ev3_motor_state( motors->next ) & MOTOR_RUNNING)
	);
	
	//Let's delete the list in the very end. It will also close the
	//motors
	ev3_delete_motors(motors);
	return 0;
}