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/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
/** This program will step through various test of the analog and digital IO
* on the Versalogic VSBC-6/8 and EBX-12 boards.
**/
#include <Aria.h>
int main(void)
{
int i, j;
bool EBX12 = true;
ArVersalogicIO amrioIO;
if (!amrioIO.isEnabled())
{
printf("Device disabled! Exiting....\n");
return 0;
}
// double an0, an1, an2, an3, an4, an5, an6, an7;
bool retval;
printf("\nsetting digital banks to outputs\n");
{
retval = amrioIO.setDigitalBankDirection(0, ArVersalogicIO::DIGITAL_OUTPUT);
printf("Bank 0:\t%d\n", retval);
retval = amrioIO.setDigitalBankDirection(1, ArVersalogicIO::DIGITAL_OUTPUT);
printf("Bank 1:\t%d\n", retval);
if (EBX12)
{
retval = amrioIO.setDigitalBankDirection(2, ArVersalogicIO::DIGITAL_OUTPUT);
printf("Bank 2:\t%d\n", retval);
retval = amrioIO.setDigitalBankDirection(3, ArVersalogicIO::DIGITAL_OUTPUT);
printf("Bank 3:\t%d\n", retval);
}
}
unsigned char bits[33];
for (i=0;i<32;i++)
bits[i] = 0x30;
bits[32] = 0x0;
printf("\nwriting data to banks\n");
for (i=0;i<4;i++)
{
printf("\r%s", bits);
fflush(stdout);
for (j=0;j<=7;j++)
{
bits[j] = 0x31;
if (!(retval = amrioIO.setDigitalBankOutputs(0, (unsigned char) 1 << j)))
printf("\nretval %d on bit %d\n", retval, j);
else
printf("\r%32s", bits);
bits[j] = 0x30;
fflush(stdout);
ArUtil::sleep(100);
// bits[j] = 0x30;
}
// clear out the last bit
if (!(retval = amrioIO.setDigitalBankOutputs(0, (unsigned char) 0)))
printf("\nretval %d on bit 7\n", retval);
for (j=8;j<=15;j++)
{
bits[j] = 0x31;
if (!(retval = amrioIO.setDigitalBankOutputs(1, (unsigned char) 1 << (j-8))))
printf("\nretval %d on bit %d\n", retval, j);
else
printf("\r%s", bits);
bits[j] = 0x30;
fflush(stdout);
ArUtil::sleep(100);
// bits[j] = 0x30;
}
// clear out the last bit
if (!(retval = amrioIO.setDigitalBankOutputs(1, (unsigned char) 0)))
printf("\nretval %d on bit 15\n", retval);
if (EBX12)
{
for (j=16;j<=23;j++)
{
bits[j] = 0x31;
if (!(retval = amrioIO.setDigitalBankOutputs(2, (unsigned char) 1 << (j-16))))
printf("\nretval %d on bit %d\n", retval, j);
else
printf("\r%s", bits);
bits[j] = 0x30;
fflush(stdout);
ArUtil::sleep(100);
// bits[j] = 0x30;
}
// clear out the last bit
if (!(retval = amrioIO.setDigitalBankOutputs(2, (unsigned char) 0)))
printf("\nretval %d on bit 23\n", retval);
for (j=24;j<=31;j++)
{
bits[j] = 0x31;
if (!(retval = amrioIO.setDigitalBankOutputs(3, (unsigned char) 1 << (j-24))))
printf("\nretval %d on bit %d\n", retval, j);
else
printf("\r%s", bits);
bits[j] = 0x30;
fflush(stdout);
ArUtil::sleep(100);
// bits[j] = 0x30;
}
// clear out the last bit
if (!(retval = amrioIO.setDigitalBankOutputs(3, (unsigned char) 0)))
printf("\nretval %d on bit 31\n", retval);
}
}
for (i=0;i<32;i++)
bits[i] = 0x31;
printf("\n\nsetting all digital outputs high\n");
if (!(retval = amrioIO.setDigitalBankOutputs(0, 0xFF)))
printf("\nretval %d on bank 0\n", retval);
if (!(retval = amrioIO.setDigitalBankOutputs(1, 0xFF)))
printf("\nretval %d on bank 1\n", retval);
if (EBX12)
{
if (!(retval = amrioIO.setDigitalBankOutputs(2, 0xFF)))
printf("\nretval %d on bank 2\n", retval);
if (!(retval = amrioIO.setDigitalBankOutputs(3, 0xFF)))
printf("\nretval %d on bank 3\n", retval);
}
printf("%s\n", bits);
fflush(stdout);
ArUtil::sleep(2000);
for (i=0;i<32;i++)
bits[i] = 0x30;
printf("\nsetting all digital outputs low\n");
if (!(retval = amrioIO.setDigitalBankOutputs(0, 0)))
printf("\nretval %d on bank 0\n", retval);
if (!(retval = amrioIO.setDigitalBankOutputs(1, 0)))
printf("\nretval %d on bank 1\n", retval);
if (EBX12)
{
if (!(retval = amrioIO.setDigitalBankOutputs(2, 0)))
printf("\nretval %d on bank 2\n", retval);
if (!(retval = amrioIO.setDigitalBankOutputs(3, 0)))
printf("\nretval %d on bank 3\n", retval);
}
printf("%s\n", bits);
fflush(stdout);
ArUtil::sleep(2000);
printf("\n\nsetting digital banks to inputs\n");
{
retval = amrioIO.setDigitalBankDirection(0, ArVersalogicIO::DIGITAL_INPUT);
printf("Bank 0:\t%d\n", retval);
retval = amrioIO.setDigitalBankDirection(1, ArVersalogicIO::DIGITAL_INPUT);
printf("Bank 1:\t%d\n", retval);
if (EBX12)
{
retval = amrioIO.setDigitalBankDirection(2, ArVersalogicIO::DIGITAL_INPUT);
printf("Bank 2:\t%d\n", retval);
retval = amrioIO.setDigitalBankDirection(3, ArVersalogicIO::DIGITAL_INPUT);
printf("Bank 3:\t%d\n", retval);
}
}
for (i=0;i<32;i++)
bits[i] = 0x30;
printf("\ngetting digital input values\n");
unsigned char bank;
if (!(retval = amrioIO.getDigitalBankInputs(0, &bank)))
printf("\nretval %d on bank 0\n", retval);
for (i=0;i<8;i++)
if (bank & ( 1 << i ))
bits[i] = 0x31;
if (!(retval = amrioIO.getDigitalBankInputs(1, &bank)))
printf("\nretval %d on bank 1\n", retval);
for (i=0;i<8;i++)
if (bank & ( 1 << i ))
bits[i+8] = 0x31;
if (EBX12)
{
if (!(retval = amrioIO.getDigitalBankInputs(2, &bank)))
printf("\nretval %d on bank 2\n", retval);
for (i=0;i<8;i++)
if (bank & ( 1 << i ))
bits[i+16] = 0x31;
if (!(retval = amrioIO.getDigitalBankInputs(3, &bank)))
printf("\nretval %d on bank 3\n", retval);
for (i=0;i<8;i++)
if (bank & ( 1 << i ))
bits[i+24] = 0x31;
}
printf("Digital input values:\n");
printf("%s\n", bits);
printf("\n");
/*
unsigned char bank0, bank1, bank2, bank3;
printf("Digital Low High An0 An1 An2 An3 An4 An5 An6 An7\n");
an0 = 0;
an1 = 0;
an2 = 0;
an3 = 0;
an4 = 0;
an5 = 0;
an6 = 0;
an7 = 0;
while(true)
{
if (!amrioIO.getDigitalBankInputs(0, &bank0))
printf("getDigitalBank 0 failed\n");
if (!amrioIO.getDigitalBankInputs(1, &bank1))
printf("getDigitalBank 1 failed\n");
if (EBX12)
{
if (!amrioIO.getDigitalBankInputs(2, &bank2))
printf("getDigitalBank 2 failed\n");
if (!amrioIO.getDigitalBankInputs(3, &bank3))
printf("getDigitalBank 3 failed\n");
}
retval = amrioIO.getAnalogValue(0, &an0);
if (!retval)
printf("an0 failed\n");
retval = amrioIO.getAnalogValue(1, &an1);
if (!retval)
printf("an1 failed\n");
retval = amrioIO.getAnalogValue(2, &an2);
if (!retval)
printf("an2 failed\n");
retval = amrioIO.getAnalogValue(3, &an3);
if (!retval)
printf("an3 failed\n");
retval = amrioIO.getAnalogValue(4, &an4);
if (!retval)
printf("an4 failed\n");
retval = amrioIO.getAnalogValue(5, &an5);
if (!retval)
printf("an5 failed\n");
retval = amrioIO.getAnalogValue(6, &an6);
if (!retval)
printf("an6 failed\n");
retval = amrioIO.getAnalogValue(7, &an7);
if (!retval)
printf("an7 failed\n");
printf("\r\t%.2x %.2x", bank0, bank1);
if (EBX12)
printf(" %.2x %.2x", bank2, bank3);
printf(" %.4f %.4f %.4f %.4f %.4f %.4f %.4f %.4f", an0, an1, an2, an3, an4, an5, an6, an7);
fflush(stdout);
ArUtil::sleep(1000);
}
*/
printf("\n");
}
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