////////////////////////////////////////
//	dc_motor_round.c
//	DCモーターの回転制御サンプルプログラム
//
//	↑を押している間DCモーターが回転する
//
//	環境: grace, FreeBSD8.3R
//	2014/06/15		t.shimizu	プログラム
//				s.minemura	回路設計
////////////////////////////////////////
#include "grobot.h"


int main(void)
{
	Display 	*d;
	Window		w;
	KeySym		key;
	XEvent		e;
	char		string[10];
	int		flg = 1, fd;
	u_int8_t	val;
	
	fd = open("/dev/ppi0",O_RDWR, 0600);//おまじない

	d = XOpenDisplay(NULL);
	w = XCreateSimpleWindow(d, RootWindow(d, 0),300,300,400,200,2, 
						BlackPixel(d,0), WhitePixel(d,0));
	XSelectInput(d, w, KeyPressMask | KeyReleaseMask);
XMapWindow(d, w);			//ウインドウを画面に表示する
	while(flg){					//flg=1なので無限ループ
		XNextEvent(d, &e);
		XLookupString(&e, string,10, &key, NULL);
		if(key == XK_Up){
			while(e.type == KeyPress){
				XNextEvent(d, &e);
				val = 0x01;		//ピン2,3(H,L) CW
				ioctl(fd, PPISDATA, &val);
				printf("↑\n");
			}
		}
		if(key == XK_Down){
			while(e.type == KeyPress){
				XNextEvent(d, &e);
				val = 0x02;		//ピン2,3(L,H) CCW
				ioctl(fd, PPISDATA, &val);
				printf("↓\n");
			}
		}
		if(key == XK_Left){
			while(e.type == KeyPress){
				XNextEvent(d, &e);
				val = 0x04;		//ピン4,5(H,L) CW
				ioctl(fd, PPISDATA, &val);
				printf("←\n");
			}
		}
		if(key == XK_Right){
			while(e.type == KeyPress){
				XNextEvent(d, &e);
				val = 0x08;		//ピン4,5(L,H) CCW
				ioctl(fd, PPISDATA, &val);
				printf("→\n");
			}
		}
		if(key == XK_F12){		//停止
			while(e.type == KeyPress){
				XNextEvent(d, &e);
				val = 0x00;
				ioctl(fd, PPISDATA, &val);
			}
		}
		if(key == XK_F1){
			while(e.type == KeyPress){
				XNextEvent(d, &e);
				val = 0x10;
				ioctl(fd, PPISDATA, &val);
			}
		}
		if(key == XK_F2){
			while(e.type == KeyPress){
				XNextEvent(d, &e);
				val = 0x20;
				ioctl(fd, PPISDATA, &val);
			}
		}
		if(key == XK_F3){
			while(e.type == KeyPress){
				XNextEvent(d, &e);
				val = 0x40;
				ioctl(fd, PPISDATA, &val);
			}
		}
		if(key == XK_F4){
			while(e.type == KeyPress){
				XNextEvent(d, &e);
				val = 0x80;
				ioctl(fd, PPISDATA, &val);
			}
		}
	
		else if(key == XK_Escape){
			printf("停止します\n");
			val = 0x00;
			ioctl(fd, PPISDATA, &val);
			flg = 0;
		}
		else{
			while(e.type == KeyPress){
				system("set r off");
				XNextEvent(d, &e);
				printf("以下のキーを入力してください\n");
			}
			system("xset r on");
		}
	}
	system("xset r on");
}