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https://github.com/google/mozc-devices.git
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994d22bb71
Co-authored-by: Takashi Toyoshima <toyoshim@google.com> Co-authored-by: Shun Ikejima <ikejima@google.com>
75 lines
1.7 KiB
C++
75 lines
1.7 KiB
C++
// Copyright 2025 Google Inc.
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// Use of this source code is governed by an Apache License that can be found
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// in the LICENSE file.
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#include <cstdio>
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#include "hardware/uart.h"
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#include "pico/stdio.h"
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#if LIB_PICO_STDIO_UART
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#include "pico/stdio_uart.h"
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#endif
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#include "../common/motor_controller.h"
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#include "../common/photo_sensor.h"
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#include "i2c_device.h"
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#define MOTOR_DIRECTION MotorController::Direction::kForward
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//#define MOTOR_DIRECTION MotorController::Direction::kBackward
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namespace {
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MotorController motor_controller(MotorController::Mode::k9Motor,
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MOTOR_DIRECTION);
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PhotoSensor sensor_h(26, 27);
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uint8_t i2c_reader(uint8_t address) {
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switch (address) {
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case 0: // Read Sensor H
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return sensor_h.Read();
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default:
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return 0xff;
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}
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}
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void i2c_writer(uint8_t address, uint8_t value) {
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switch (address) {
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case 0: // Set Motor 1-8 State
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for (uint8_t motor = 0; motor < 8; ++motor) {
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if (value & (1 << motor)) {
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motor_controller.Start(motor);
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} else {
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motor_controller.Stop(motor);
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}
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}
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break;
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case 1: // Set Motor 9 State
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if (value & 1) {
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motor_controller.Start(8);
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} else {
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motor_controller.Stop(8);
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}
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break;
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}
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}
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} // namespace
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int main() {
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#if LIB_PICO_STDIO_UART
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// Customized initialization to use only GPIO 0 for TX.
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stdio_uart_init_full(uart0, /*baud_rate=*/115200, /*tx_pin=*/0,
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/*rx_pin=*/-1);
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#else
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stdio_init_all();
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#endif
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I2CDevice i2c(/*i2c=*/i2c0, /*sda=*/28, /*scl=*/29, /*address=*/68);
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i2c.SetReadHandler(i2c_reader);
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i2c.SetWriteHandler(i2c_writer);
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while (true) {
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tight_loop_contents();
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}
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}
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