C.A.R. - Cars Autonomously Racing

[21012.689869] usb 1-1.3: Product: Numato Lab 8 Channel USB GPIO Module
[21012.689877] usb 1-1.3: Manufacturer: Numato Systems Pvt. Ltd.
[21012.691950] cdc_acm 1-1.3:1.0: This device cannot do calls on its own. It is not a modem.
[21012.692011] cdc_acm 1-1.3:1.0: ttyACM0: USB ACM device

>ver
00000007
>id get
00000000

>gpio set 0
>gpio clear 0

>gpio iomask ff
>gpio writeall ff
>gpio writeall 00
>gpio readall
01

#!/usr/bin/python
import serial
s= serial.Serial('/dev/ttyACM0', 19200, timeout=1)
s.write("gpio set 0\n\r")
s.close()

#include <stdio.h>
int main (int argc, char *argv[]) {
    FILE *fd;
    fd = fopen("/dev/ttyACM0", "w");
    if (fd==NULL) {
        perror("Could not open /dev/ttyACM0. Maybe you need sudo?\n"); return 1;
        }
    int i; for (i=0;i<8;i++) {
        int n = fprintf(fd, "gpio clear %d\n\r",i);
        if (n < 0) perror("Output failed!\n");
        }
    fclose(fd); return 0;
    }

#!/bin/bash
GPIODEV="/dev/input/by-path/pci-0000:00:12.2-usb-0:1.3:1.0-event-kbd"
echo "Press 'Esc' followed by 'Ctrl-c' to quit."
stty -echo
sudo ./manual ${GPIODEV} &
cat > /dev/null
stty echo

/*   Chris X Edwards - Manual Mini Car Driver - 2014-07-24   *
 *   Compile with: gcc -o manual manual.c                    */
#include <stdio.h>
#include <fcntl.h>
#include <linux/input.h>

int main (int argc, char *argv[]) {
    int gpio[4]= {0,0,0,0};
    int i, kbfd; /* File id int for keyboard events. */
    FILE *gpiofd; /* File descriptor for the gpio device */
    struct input_event ev[64];
    if (argc != 2) {
        fprintf(stderr, "usage: %s event-device (/dev/input/eventX)\n", argv[0]);
        return 1;
        }
    if ((kbfd = open(argv[1], O_RDONLY)) < 0) { perror("Couldn't open input device");
        return 1;
        }
    gpiofd = fopen("/dev/ttyACM0", "w");
    if (gpiofd==NULL) {
        perror("Could not open GPIO device. Maybe you're not root?\n"); return 1;
        }
    while (1) {
        size_t rb = read(kbfd, ev, sizeof(ev));
        if (rb < (int) sizeof(struct input_event)) {
            perror("short read");
            return 1;
            }
        for (i = 0; i < (int) (rb / sizeof(struct input_event)); i++) {
            if (EV_KEY == ev[i].type) {
                if (ev[i].value == 1) { /* 1=KEY_PRESS, 2=KEY_KEEPING_PRESSED */
                    switch (ev[i].code) {
                        case 1 : printf("Stopping. Press Ctrl-c to quit.\n"); return 0;
                        case 108: case 31: gpio[0]= 1; gpio[1]= 0; break; /* back */
                        case 103: case 17: gpio[1]= 1; gpio[0]= 0; break; /* forward */
                        case 105: case 30: gpio[2]= 1; gpio[3]= 0; break; /* left */
                        case 106: case 32: gpio[3]= 1; gpio[2]= 0; break; /* right */
                        }
                    }
                else {
                    if (ev[i].value == 0) { /* 0=KEY_RELEASE */
                        switch (ev[i].code) {
                            case 108: case 31: gpio[0]= 0; break; /* !back */
                            case 103: case 17: gpio[1]= 0; break; /* !forward */
                            case 105: case 30: gpio[2]= 0; break; /* !left */
                            case 106: case 32: gpio[3]= 0; break; /* !right */
                            }
                        }
                    }
                }
            }
            for (i=0; i<4; i++) {
                if (gpio[i]) {
                    int n = fprintf(gpiofd, "gpio set %d\n\r",i);
                    if (n < 0) perror("Output failed!\n");
                    }
                else {
                    int n = fprintf(gpiofd, "gpio clear %d\n\r",i);
                    if (n < 0) perror("Output failed!\n");
                    }
                }
        }
    fclose(gpiofd); return 0;
    }