spintest.c File Reference

Simple continuous spin test of a servo. More...

#include <sys/select.h>
#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include <stdlib.h>
#include <libgen.h>
#include <ctype.h>
#include "rnr/rnrconfig.h"
#include "rnr/opts.h"
#include "rnr/log.h"
#include "dynamixel/Dynamixel.h"
#include "dynamixel/libDynamixel.h"
#include "version.h"

Go to the source code of this file.

Macros
#define	APP_EC_OK   0
#define	APP_EC_USAGE   2
#define	APP_EC_EXEC   4

Functions
bool_t	peekc (uint_t msec)
static void	MainInitArgs (int argc, char *argv[])
	Main argument initialization. More...
static int	AppDynaInit ()
static void	AppDynaRun ()
static void	AppDynaDeinit ()
static void	AppBanner ()
int	main (int argc, char *argv[])
	Main. More...

Variables
static char *	Argv0
	the command
static char *	OptsSerDev = "/dev/ttyUSB0"
	the serial device
static int	OptsBaudRate = 1000000
	serial baudrate
static int	OptsSpeed = 200
	servo speed
static int	ArgServoId = -1
	servo id
static OptsPgmInfo_T	AppPgmInfo
	Program information. More...
static OptsInfo_T	AppOptsInfo []
	Command line options information.
int	ServoDir = DYNA_DIR_CW
DynaHandle_T *	DynaHandle

Detailed Description

Simple continuous spin test of a servo.

LastChangedDate

2011-07-15 14:10:46 -0600 (Fri, 15 Jul 2011)

Rev

1139

Author

Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Copyright

© 2011-2017. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

Definition in file spintest.c.

Function Documentation

int main	(	int	argc,
		char *	argv[]
	)

Main.

Parameters

argc	Command-line argument count.
argv	Command-line argument list.

Exit Status:

Program exits with 0 success, > 0 on failure.

Definition at line 321 of file spintest.c.

References MainInitArgs().

{
  int   rc;

  MainInitArgs(argc, argv);

  if( (rc = AppDynaInit()) == APP_EC_OK )
  {
    AppBanner();
    AppDynaRun();
    AppDynaDeinit();
  }

  return rc >= 0? APP_EC_OK: -rc;
}

static void MainInitArgs ( int  argc, char *  argv[]  )

static

Main argument initialization.

Parameters

argc	Command-line argument count.
argv	Command-line argument list.

Exits:

Program terminates on conversion error.

Definition at line 183 of file spintest.c.

References AppOptsInfo, AppPgmInfo, ArgServoId, Argv0, DYNA_ADDR_GOAL_SPEED_LSB, DYNA_ADDR_LIM_CCW_LSB, DYNA_ADDR_LIM_CW_LSB, DYNA_CCW_POS_CONT_MODE, DYNA_CW_POS_CONT_MODE, DYNA_DIR_CCW, DYNA_DIR_CW, DYNA_GOAL_SPEED_DIR_CCW, DYNA_GOAL_SPEED_DIR_CW, DYNA_GOAL_SPEED_MAG_MASK, DYNA_OK, DYNA_TORQUE_MAX_RAW, OptsBaudRate, OptsSerDev, OptsSpeed, and PkgInfo.

Referenced by main().

{
  // name of this process
  Argv0 = basename(argv[0]);

  // parse input options
  argv = OptsGet(Argv0, &PkgInfo, &AppPgmInfo, AppOptsInfo, true,
                 &argc, argv);

  if( argc < 1 )
  {
    OptsInvalid(Argv0, "no servo id specified.");
  }
  else
  {
    ArgServoId = atoi(argv[0]);
  }

  if( OptsSpeed < 0 )
  {
    ServoDir = DYNA_DIR_CCW;
    OptsSpeed = -OptsSpeed;
  }
  else
  {
    ServoDir = DYNA_DIR_CW;
  }
}

Variable Documentation

OptsPgmInfo_T AppPgmInfo

static

Initial value:

=
{
  
  "id",

  
  "Spin dynamixel servo continuously.",

  
  "The %P test application spins the given servo continuously at the given "
  "speed.",

  
  NULL
}

Program information.

Definition at line 82 of file spintest.c.

Referenced by MainInitArgs().