Add step4, step5 samples (#32)

* Add step4 sample

* Add sample step5

* fix step4.c

* Fix includes

* Remove a trailing newline via strip()

* include unistd.h

* Change Tab to Space

* Remove a trailing newline

Co-authored-by: Daisuke Sato <daisuke.sato@rt-net.jp>

Author: Shota Aoki

SampleProgram/README.md

@@ -73,3 +73,15 @@ The combination of LEDs and switches are defined as bellow.
 - SW0 : LED3
 - SW1 : LED1 & LED2
 - SW2 : LED0
+
+# Step4
+
+モータを回して右旋回、左旋回します。
+
+Drive the motors to rotate clockwise and counter-clockwise.
+
+# Step5
+
+ライトセンサの値を読み込みます。
+
+Read the lightsensors values.

SampleProgram/step4.c

@@ -0,0 +1,48 @@
+#include <fcntl.h>
+#include <unistd.h>
+#include <stdio.h>
+
+void main(void)
+{
+    int motoren = open("/dev/rtmotoren0",O_WRONLY);
+    int motor_l = open("/dev/rtmotor_raw_l0",O_WRONLY);
+    int motor_r = open("/dev/rtmotor_raw_r0",O_WRONLY);
+    int motor = open("/dev/rtmotor0", O_WRONLY);
+    
+    printf("Motor On\n");
+    write(motoren,"1",1);
+    usleep(500*1000);
+    
+    printf("Rotate counter-clockwise\n");
+    write(motor_l,"-400",5);
+    write(motor_r,"400",5);
+    usleep(500*1000);
+    
+    write(motor_l,"0",5);
+    write(motor_r,"0",5);
+    usleep(500*1000);
+
+    printf("Rotate clockwise\n");
+    write(motor_l,"400",5);
+    write(motor_r,"-400",5);
+    usleep(500*1000);
+
+    write(motor_l,"0",5);
+    write(motor_r,"0",5);
+    usleep(500*1000);
+
+    printf("Rotate clockwise\n");
+    write(motor,"400 -400 500",15);
+    usleep(500*1000);
+
+    printf("Rotate counter-clockwise\n");
+    write(motor,"-400 400 500",15);
+    
+    printf("Motor Off\n");
+    write(motoren,"0",1);
+
+    close(motoren);
+    close(motor_l);
+    close(motor_r);
+    close(motor);
+}

SampleProgram/step4.py

@@ -0,0 +1,50 @@
+#!/usr/bin/python
+import time
+import sys
+
+filename_motoren = "/dev/rtmotoren0"
+filename_motor_r = "/dev/rtmotor_raw_r0"
+filename_motor_l = "/dev/rtmotor_raw_l0"
+filename_motor = "/dev/rtmotor0"
+
+SPEED = "400"
+TIME_MS = "500"
+
+def motor_drive(freq_l="0", freq_r="0"):
+    with open(filename_motor_l, 'w') as f:
+        f.write(freq_l)
+    with open(filename_motor_r, 'w') as f:
+        f.write(freq_r)
+
+print("Motor On")
+with open(filename_motoren, 'w') as f:
+    f.write("1")
+time.sleep(0.5)
+
+print("Rotate counter-clockwise")
+motor_drive("-"+SPEED, SPEED)
+time.sleep(0.5)
+
+motor_drive("0", "0")
+time.sleep(0.5)
+
+print("Rotate clockwise")
+motor_drive(SPEED, "-"+SPEED)
+time.sleep(0.5)
+
+motor_drive("0", "0")
+time.sleep(0.5)
+
+print("Rotate clockwise")
+with open(filename_motor, 'w') as f:
+    f.write(SPEED+" -"+SPEED+" "+TIME_MS)
+
+time.sleep(0.5)
+
+print("Rotate counter-clockwise")
+with open(filename_motor, 'w') as f:
+    f.write("-"+SPEED+" "+SPEED+" "+TIME_MS)
+
+print("Motor Off")
+with open(filename_motoren, 'w') as f:
+    f.write("0")

SampleProgram/step4.sh

@@ -0,0 +1,41 @@
+#!/bin/bash
+
+MOTOR_EN=/dev/rtmotoren0
+MOTOR_R=/dev/rtmotor_raw_r0
+MOTOR_L=/dev/rtmotor_raw_l0
+MOTOR=/dev/rtmotor0
+
+SPEED=400
+TIME_MS=500
+
+echo "Motor On"
+echo 1 > $MOTOR_EN
+sleep 0.5
+
+echo "Rotate counter-clockwise"
+echo -$SPEED > $MOTOR_L
+echo $SPEED > $MOTOR_R
+sleep 0.5
+
+echo 0 > $MOTOR_L
+echo 0 > $MOTOR_R
+sleep 0.5
+
+echo "Rotate clockwise"
+echo $SPEED > $MOTOR_L
+echo -$SPEED > $MOTOR_R
+sleep 0.5
+
+echo 0 > $MOTOR_L
+echo 0 > $MOTOR_R
+sleep 0.5
+
+echo "Rotate clockwise"
+echo $SPEED -$SPEED $TIME_MS > $MOTOR
+sleep 0.5
+
+echo "Rotate counter-clockwise"
+echo -$SPEED $SPEED $TIME_MS > $MOTOR
+
+echo "Motor Off"
+echo 0 > $MOTOR_EN

SampleProgram/step5.c

@@ -0,0 +1,20 @@
+#include <fcntl.h>
+#include <stdio.h>
+#include <unistd.h>
+
+void main(void)
+{
+    int buff_size = 256;
+    FILE *fp;
+
+    char buff[buff_size];
+    while(1){
+        if ((fp = fopen("/dev/rtlightsensor0", "r")) != NULL){
+            while(fgets(buff, buff_size, fp) != NULL){
+                printf("%s", buff);
+            }
+        }
+        fclose(fp);
+        usleep(500*1000);
+    }
+}

SampleProgram/step5.py

@@ -0,0 +1,8 @@
+#!/usr/bin/python
+import time
+
+while 1:
+    with open("/dev/rtlightsensor0", 'r') as f:
+        print(f.read().strip())
+    time.sleep(0.5)
+

SampleProgram/step5.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+
+while true
+do
+    cat /dev/rtlightsensor0
+    sleep 0.5
+done
+