spi-motor.c

#include <stdio.h>
#include <fcntl.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <sys/ioctl.h> // Include this header for ioctl
#include "spi-motor.h"

int main(int argc, const char* argv[])
{
    int a, b, c, d, e, f;
    int fd = open("/dev/motor", O_RDWR);
    if (fd < 0) {
        perror("Failed to open /dev/motor");
        return 1;
    }

    while(1)
    {
        printf("action:\n");
        printf("1:MOTOR_STOP 2:MOTOR_RESET 3:MOTOR_MOVE 4:MOTOR_GET_STATUS 5:MOTOR_SPEED 6:MOTOR_GOBACK 7:MOTOR_CRUISE\n");
        printf("choose:");
        scanf("%d", &d);
        switch(d)
        {
            case MOTOR_STOP:
                ioctl(fd, d, 0);
                break;
            case MOTOR_RESET:
                memset(&motor_reset_data, 0, sizeof(motor_reset_data));
                ioctl(fd, d, &motor_reset_data);
                printf("x_max_steps=%d, y_max_steps=%d, x_cur_step=%d, y_cur_step=%d\n",
                    motor_reset_data.x_max_steps, motor_reset_data.y_max_steps,
                    motor_reset_data.x_cur_step, motor_reset_data.y_cur_step);
                break;
            case MOTOR_MOVE:
                printf("steps x: ");
                scanf("%d", &a);
                printf("steps y: ");
                scanf("%d", &b);
                printf("x=%d, y=%d\n", a, b);
                jb_motors_steps.x = a;
                jb_motors_steps.y = b;
                ioctl(fd, d, (unsigned long)&jb_motors_steps);
                break;
            case MOTOR_GET_STATUS:
                ioctl(fd, d, (unsigned long)&jb_motor_message);
                printf("xcurrent_steps=%d\n", jb_motor_message.x);
                printf("ycurrent_steps=%d\n", jb_motor_message.y);
                printf("cur_status=%d\n", jb_motor_message.status);
                printf("cur_speed=%d\n", jb_motor_message.speed);
                break;
            case MOTOR_SPEED:
                printf("speed: ");
                scanf("%d", &e);
                ioctl(fd, d, (unsigned long)&e);
                break;
            case MOTOR_GOBACK:
                ioctl(fd, d, 0);
                break;
            case MOTOR_CRUISE:
                ioctl(fd, d, 0);
                break;
            default:
                printf("Invalid action. Please choose a valid option.\n");
                break;
        }
    }

    close(fd);
    return 0;
}