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我正在使用linux并写入了一个.c文件。我想使用void类型的一些函数来执行电机的运动。我的目标是向前移动2秒,然后向右转2秒等等。我该如何实现它?函数MOVE_FORW,MOVE_RIGHT等都是无效的。在特定时间运行void函数
该函数的返回类型为void。我的问题是我如何让系统执行我想要的实时任务2秒。我应该使用什么样的延迟?
这里是代码: 我想通过电机控制两个车轮。名字是象征性的:
/*
DEFINITIONS
FLEN FILE LEFT ENABLE GPIO177
FREN FILE RIGHT ENABLE GPIO168
FLC FILE LEFT C GPIO166
FRC FILE RIGHT C GPIO169
FLD FILE LEFT D GPIO167
FRD FILE RIGHT D GPIO170
LEH LEFT ENABLE HIGH
LEL LEFT ENABLE LOW
LCH LEFT C HIGH
LCL LEFT C LOW
LDH LEFT D HIGH
LDL LEFT D LOW
REH RIGHT ENABLE HIGH
REL RIGHT ENABLE LOW
RCH RIGHT C HIGH
RCL RIGHT C LOW
RDH RIGHT D HIGH
RDL RIGHT D LOW
*/
FILE *FLEN,*FREN,*FLC,*FRC,*FLD,*FRD;
FILE *DIR_FLEN,*DIR_FREN,*DIR_FLC,*DIR_FRC,*DIR_FLD,*DIR_FRD;
//LEFT WHEEL
#define LEH() fprintf(FLEN,"1")
#define LEL() fprintf(FLEN,"0")
#define LCH() fprintf(FLC,"1")
#define LCL() fprintf(FLC,"0")
#define LDH() fprintf(FLD,"1")
#define LDL() fprintf(FLD,"0")
//RIGHT WHEEL
#define REH() fprintf(FREN,"1")
#define REL() fprintf(FREN,"0")
#define RCH() fprintf(FRC,"1")
#define RCL() fprintf(FRC,"0")
#define RDH() fprintf(FRD,"1")
#define RDL() fprintf(FRD,"0")
void MOVE_FORW(){
LEH();
LCH();
LDL();
REH();
RCH();
RDL();
}
void MOVE_BCKW(){
LEH();
LCL();
LDH();
REH();
RCL();
RDH();
}
void MOVE_RIGHT(){
LEH();
LCH();
LDL();
REH();
RCL();
RDH();
}
void MOVE_LEFT(){
LEH();
LCL();
LDH();
REH();
RCH();
RDL();
}
int main(void){
//HANDLING FILES - opening files fow writing (overwriting)
//EXPORTING AS OUTPUT - DEFINING DIRECTION (out)
system("echo 177 > /sys/class/gpio/export");
printf("FINE\n");
DIR_FLEN=fopen("/sys/class/gpio/gpio177/direction","w+"); //GPIO 177
fprintf(DIR_FLEN,"out");
FLEN=fopen("/sys/class/gpio/gpio177/value","w+"); //GPIO 177
system("echo 168 > /sys/class/gpio/export");
DIR_FREN=fopen("/sys/class/gpio/gpio168/direction","w+"); //GPIO 168
fprintf(DIR_FREN,"out");
FREN=fopen("/sys/class/gpio/gpio168/value","w+"); //GPIO 168
system("echo 166 > /sys/class/gpio/export");
DIR_FLC=fopen("/sys/class/gpio/gpio166/direction","w+");
fprintf(DIR_FLC,"out");
FLC=fopen("/sys/class/gpio/gpio166/value","w+");
system("echo 169 > /sys/class/gpio/export");
DIR_FRC=fopen("/sys/class/gpio/gpio169/direction","w+");
fprintf(DIR_FRC,"out");
FRC=fopen("/sys/class/gpio/gpio169/value","w+");
system("echo 167 > /sys/class/gpio/export");
DIR_FLD=fopen("/sys/class/gpio/gpio167/direction","w+");
fprintf(DIR_FLD,"out");
FLD=fopen("/sys/class/gpio/gpio167/value","w+");
system("echo 170> /sys/class/gpio/export");
DIR_FRD=fopen("/sys/class/gpio/gpio170/direction","w+");
fprintf(DIR_FRD,"out");
FRD=fopen("/sys/class/gpio/gpio170/value","w+");
MOVE_FORW();
_请澄清你的具体问题或添加额外的细节,以确切地突出你所需要的。正如目前所写,很难确切地说出你在问什么。请参阅如何问问页面以获取帮助,以澄清此问题._ –
您不清楚您要问什么。通过“void类型的函数”,你的意思是函数的返回类型是“void”还是采用'void'参数?无论哪种情况,为什么“空白”是一个问题?只需调用它。请澄清你的问题。如果你展示一些具体代码以使其更清晰,那么最好。 – kaylum
在你的问题中有一个巨大的空白 - 代码应该是的空间:( –