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1606 tullio 1
/*
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 * Project: S.Ha.R.K
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 *
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 * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
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 *
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 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
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 *
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 *
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 * http://www.sssup.it
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 * http://retis.sssup.it
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 * http://hartik.sssup.it
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 */
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/*
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 * This program is free software; you can redistribute it and/or modify
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 * it under the terms of the GNU General Public License as published by
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 * the Free Software Foundation; either version 2 of the License, or
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 * (at your option) any later version.
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 *
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 * This program is distributed in the hope that it will be useful,
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 * but WITHOUT ANY WARRANTY; without even the implied warranty of
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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 * GNU General Public License for more details.
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 *
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 * You should have received a copy of the GNU General Public License
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 * along with this program; if not, write to the Free Software
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 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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 *
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 */
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#include "kernel/kern.h"
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#include "drivers/shark_keyb26.h"
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#include "unistd.h"
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#include "servo.h"
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#define N_SEND 10000
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int main () {
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  int res, i = 0, k;
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  srand(sys_gettime(NULL));
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  cprintf("(Open Com2)");
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  res = servo_open(COM2, 19200);
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  cprintf("(Res = %d)",res);
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  cprintf("(Servo Turn On 0)");
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  res = servo_turn_on(COM2, 0);
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  cprintf("(Res = %d)",res);
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  while(i < N_SEND) {
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    cprintf("(Cycle = %d)",i);
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    k = rand() % 180 - 90;
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    cprintf("(Set Servo 0 %d)",k);
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    res = servo_set_angle_sec(COM2, 0, ANGLE2SEC(k,0,0));
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    cprintf("(Res = %d)",res);
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    udelay(100000);
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    i++;
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  }
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  servo_close(COM2);
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  exit(0);
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  return 0;
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}
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