Subversion Repositories shark

/*
 * Project: S.Ha.R.K.
 *
 * Coordinators:
 *   Giorgio Buttazzo    <giorgio@sssup.it>
 *   Paolo Gai           <pj@gandalf.sssup.it>
 *
 * Authors     :
 *   Giacomo Guidi       <giacomo@gandalf.sssup.it>
 *
 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
 *
 * http://www.sssup.it
 * http://retis.sssup.it
 * http://shark.sssup.it
 */

#include "kernel/kern.h"

#include "drivers/shark_keyb26.h"
#include "rtdac4.h"

int main(int argc, char **argv)
{

  char ch,buf_char[4];
  short buf_short[2];
  long prescaler;

  RTDAC4_open();

  RTDAC4_read_states(buf_char);
 
  buf_short[0] = 0;
  buf_short[1] = 0;

  RTDAC4_set_motor(buf_short);

  /* Reset encoders */
  RTDAC4_ioctl(1, 0);

  prescaler = 0;

  /* Set prescaler */
  RTDAC4_ioctl(2, prescaler);

  ch = keyb_getch(BLOCK);

  sys_end();

  return 0;

}