smart_car/servidor2.cpp at main · mathBordin/smart_car · GitHub

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#include "projeto.hpp"
#include "cekeikon.h"
#include <wiringPi.h>
#include <softPwm.h>

int main(void)
{
  SERVER server;
  server.waitConnection();

  wiringPiSetup () ;
  if (softPwmCreate(0, 0, 100)) erro("erro");
  if (softPwmCreate(1, 0, 100)) erro("erro");
  if (softPwmCreate(2, 0, 100)) erro("erro");
  if (softPwmCreate(3, 0, 100)) erro("erro");

  VideoCapture cam(0);
  if (!cam.isOpened()) erro("Erro: Abertura de webcam.");
 	cam.set(CV_CAP_PROP_FRAME_WIDTH,320);
 	cam.set(CV_CAP_PROP_FRAME_HEIGHT,240);
  Mat_<COR> image;
  cam >> image;

  uint32_t comando = 0;
  int ch = -1;

  while (ch <0)
  {
    cam >> image;
    flip(image, image, -1);

  	server.receiveUint(comando);

  	putTxt (image, 10, 10, to_string (comando), COR (0,255,0), 4);
    server.sendImgComp (image);

    if (comando == 7){
      softPwmWrite (0, 100);
      softPwmWrite (1, 0);
      softPwmWrite (2, 0);
      softPwmWrite (3, 0);
    } else if (comando == 8){
      softPwmWrite (0, 100);
      softPwmWrite (1, 0);
      softPwmWrite (2, 0);
      softPwmWrite (3, 100);
    } else if (comando == 9){
      softPwmWrite (0, 0);
      softPwmWrite (1, 0);
      softPwmWrite (2, 0);
      softPwmWrite (3, 100);
    } else if (comando == 4){
      softPwmWrite (0, 100);
      softPwmWrite (1, 0);
      softPwmWrite (2, 100);
      softPwmWrite (3, 0);
    } else if (comando == 0){
      softPwmWrite (0, 0);
      softPwmWrite (1, 0);
      softPwmWrite (2, 0);
      softPwmWrite (3, 0);
    } else if (comando == 6){
      softPwmWrite (0, 0);
      softPwmWrite (1, 100);
      softPwmWrite (2, 0);
      softPwmWrite (3, 100);
    } else if (comando == 1){
      softPwmWrite (0, 0);
      softPwmWrite (1, 0);
      softPwmWrite (2, 100);
      softPwmWrite (3, 0);
    } else if (comando == 2){
      softPwmWrite (0, 0);
      softPwmWrite (1, 100);
      softPwmWrite (2, 100);
      softPwmWrite (3, 0);
    } else if (comando == 3){
      softPwmWrite (0, 0);
      softPwmWrite (1, 100);
      softPwmWrite (2, 0);
      softPwmWrite (3, 0);
    }
  }
}