//--------------------------------------------------------------------------
// SignalHandler - Try to free up things like servos if we abort.
//--------------------------------------------------------------------------
void SignalHandler(int sig){
printf("Caught signal %d\n", sig);
// Stop motors if they are active
if (g_fArmActive)
PutArmToSleep();
command.end(); // tell the commander to release stuff...
exit(1);
}
//--------------------------------------------------------------------------
// SignalHandler - Try to free up things like servos if we abort.
//--------------------------------------------------------------------------
void SignalHandler(int sig){
printf("Caught signal %d\n", sig);
// Stop motors if they are active
if (g_fRoverActive) {
g_MotorsDriver.RDrive(0);
g_MotorsDriver.LDrive(0);
}
#ifdef BBB_SERVO_SUPPORT
printf("Free Servos\n");
for (int i=0; i < sizeof(g_aServos)/sizeof(g_aServos[0]); i++) {
g_aServos[i]->Disable();
}
#endif
command.end(); // tell the commander to release stuff...
exit(1);
}
