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public static void main(string[] args) {
var engines = new EngineController("/dev/ttyAMA0");
if(args.length < 2) {
stderr.printf("%s <cmd>\n", args[0]);
stderr.printf("cmds: engine, enable, disable, nop\n");
return;
}
switch(args[1]) {
case "engine":
if(args.length < 4) {
stderr.printf("%s engine <engine> <speed>\n", args[0]);
return;
}
uint8 engine = (uint8) int.parse(args[2]);
if("%u".printf(engine) != args[2])
error("engine must be an integer");
uint8 speed = (uint8) int.parse(args[3]);
if("%u".printf(speed) != args[3])
error("speed must be an integer");
if(engine == 6)
if(engines.set_speed_all(speed))
stdout.printf("set speed of all engines to %u: ok\n", speed);
else
stdout.printf("set speed of all engines to %u: fail\n", speed);
if(engine <= 5)
if(engines.set_speed(engine, speed))
stdout.printf("set speed of engine %u to %u: ok\n", engine, speed);
else
stdout.printf("set speed of engine %u to %u: fail\n", engine, speed);
break;
case "enable":
if(engines.enable())
stdout.printf("enable motors: ok\n");
else
stdout.printf("enable motors: fail\n");
break;
case "disable":
if(engines.disable())
stdout.printf("disable motors: ok\n");
else
stdout.printf("disable motors: fail\n");
break;
case "nop":
if(engines.no_operation())
stdout.printf("no operation: ok\n");
else
stdout.printf("no operation: fail\n");
break;
default:
stderr.printf("cmd not supported!\n");
break;
}
}
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