implement atmostripe motor controller

2 files changed, 31 insertions, 7 deletions

diff --git a/actuators/motor-controller.vala b/actuators/motor-controller.vala
index d348e53..b638e06 100644
--- a/actuators/motor-controller.vala
+++ b/actuators/motor-controller.vala
@@ -18,6 +18,6 @@ public interface MotorController : Device {
 	public abstract uint8 max { get ; }
 
 	public abstract void init(KeyFile cfg) throws Error;
-	public abstract void set_single(uint8 m, uint8 v);
-	public abstract void set_all(uint8 v);
+	public abstract bool set_single(uint8 m, uint8 v);
+	public abstract bool set_all(uint8 v);
 }
diff --git a/actuators/motor/atmostripe.vala b/actuators/motor/atmostripe.vala
index ad996e7..23f0fda 100644
--- a/actuators/motor/atmostripe.vala
+++ b/actuators/motor/atmostripe.vala
@@ -23,15 +23,39 @@ public class AtmostripeMotorController : SerialDevice, MotorController {
 	}
 
 	public void init(KeyFile cfg) throws Error {
-		/* */
+		var device = cfg.get_string("AtmostripeMotorController", "device");
+		setup(device);
 	}
 
-	public void set_single(uint8 m, uint8 v) {
-		/* */
+	public bool set_single(uint8 engine, uint8 speed) {
+		uint8[2] buf = new uint8[2];
+		buf[0] = engine;
+		buf[1] = speed;
+
+		if(engine > 5)
+			return false;
+
+		write(buf, 2);
+		read(buf, 2);
+
+		if(buf[0] == '.')
+			return true;
+		else
+			return false;
 	}
 
-	public void set_all(uint8 v) {
-		/* */
+	public bool set_all(uint8 speed) {
+		uint8[2] buf = new uint8[2];
+		buf[0] = 6;
+		buf[1] = speed;
+
+		write(buf, 2);
+		read(buf, 2);
+
+		if(buf[0] == '.')
+			return true;
+		else
+			return false;
 	}
 }