libroboint
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#include <stdio.h> #include <usb.h> #include "roboint.h" int main() { FT_HANDLE hFt = NULL; FT_TRANSFER_AREA *transfer_area = NULL; // Get List of USB devices InitFtUsbDeviceList(); // Get Number of usb devices printf("Found %d ft USB devices\n", GetNumFtUsbDevice()); // Get handle on a device hFt = GetFtUsbDeviceHandle(0); // Open connection OpenFtUsbDevice(hFt); StartFtTransferArea(hFt, NULL); transfer_area = GetFtTransferAreaAddress(hFt); if (transfer_area) { transfer_area->MPWM_Main[0] = 7; // PWM Motor 1 transfer_area->MPWM_Main[1] = 1; transfer_area->M_Main = 2; // Motor 1 right sleep(2); transfer_area->M_Main = 1; // Motor 1 left do { printf("End 1: %d\n", transfer_area->E_Main & 0x1); // Digital Input 1 usleep(10000); } while(!(transfer_area->E_Main & 0x1)); // stop when end = 1 printf("End 1: %d\n", transfer_area->E_Main & 0x1); // Digital Input 1 transfer_area->M_Main = 0; } StopFtTransferArea(hFt); // Close connection CloseFtDevice(hFt); return 0; }