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#include <bcm2835.h>
#include <inttypes.h>
uint8_t StepCount = 8;
// Sequeential Steps
bool Seq_0[]={0,1,0,0};
bool Seq_1[]={0,1,0,1};
bool Seq_2[]={0,0,0,1};
bool Seq_3[]={1,0,0,1};
bool Seq_4[]={1,0,0,0};
bool Seq_5[]={1,0,1,0};
bool Seq_6[]={0,0,1,0};
bool Seq_7[]={0,1,1,0};
// Sequeential Steps
void forward(bool A[])
{
bcm2835_gpio_write(4,A[0]);
bcm2835_gpio_write(17,A[1]);
bcm2835_gpio_write(23,A[2]);
bcm2835_gpio_write(24,A[3]);
}
int main(int argc, char **argv)
{
if(!bcm2835_init())
return 1;
bcm2835_gpio_fsel(4,BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(17,BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(23,BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(24,BCM2835_GPIO_FSEL_OUTP);
int forward_count;
int backward_count;
int my_delay;
int con = 1;
while(con)
{
printf("Please enter delay time in (ms)");
scanf("%d",&my_delay);
printf("rnPlease enter Forward Count :");
scanf("%d",&forward_count);
printf("rnPlease enter Backward Count :");
scanf("%d",&backward_count);
//Forword act
for(int i=0;i<forward_count;i++)
{
forward(Seq_0);
bcm2835_delay(my_delay);
forward(Seq_1);
bcm2835_delay(my_delay);
forward(Seq_2);
bcm2835_delay(my_delay);
forward(Seq_3);
bcm2835_delay(my_delay);
forward(Seq_4);
bcm2835_delay(my_delay);
forward(Seq_5);
bcm2835_delay(my_delay);
forward(Seq_6);
bcm2835_delay(my_delay);
forward(Seq_7);
bcm2835_delay(my_delay);
}
//Forword act
//Backward act
for(int i=0;i<backward_count;i++)
{
forward(Seq_7);
bcm2835_delay(my_delay);
forward(Seq_6);
bcm2835_delay(my_delay);
forward(Seq_5);
bcm2835_delay(my_delay);
forward(Seq_4);
bcm2835_delay(my_delay);
forward(Seq_3);
bcm2835_delay(my_delay);
forward(Seq_2);
bcm2835_delay(my_delay);
forward(Seq_1);
bcm2835_delay(my_delay);
forward(Seq_0);
bcm2835_delay(my_delay);
}
//Backward act
bcm2835_gpio_write(4,0);
bcm2835_gpio_write(17,0);
bcm2835_gpio_write(23,0);
bcm2835_gpio_write(24,0);
printf("rnDo you want to continue please enter 1, otherwise enter 0 : ");
scanf("%d",&con);
printf("****************************rn");
}
return 0;
}
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