void CANInitialize()
{
EPOSInit(&_canInit);
printf("EPOS INIT\n\r");
Delay(500);
uint8_t i;
for(i = 0; i < NUM_MOTORS; ++i)
{
printf("EPOS Enable Start:%i\n\r",i);
EPOSEnable(_motor[i].NodeID);
printf("EPOS ENABLE:%i\n\r",i);
Delay(100);
}
//Do it twice, not optimal but works better (*25.11.13: happened not to work at all when removed!!!)
for(i = 0; i < NUM_MOTORS; ++i)
{
EPOSEnable(_motor[i].NodeID);
Delay(100);
}
for(i = 0; i < NUM_MOTORS; ++i)
{
CurrentMode(_motor[i].NodeID);
printf("Set Current Mode:%i\n\r",i);
Delay(200);
}
}
//o---------------------------------------------------------------------------o
//| Function - Warning
//| Date - 21st January, 2002
//| Programmer - Abaddon
//o---------------------------------------------------------------------------o
//| Purpose - Writes to the warning log and the console.
//o---------------------------------------------------------------------------o
void CConsole::Warning( const char *toWrite, ... )
{
UI08 oldMode = CurrentMode();
CurrentMode( WARNINGMODE );
va_list argptr;
char msg[MAX_CONSOLE_BUFF];
va_start( argptr, toWrite );
vsnprintf( msg, MAX_CONSOLE_BUFF, toWrite, argptr );
va_end( argptr );
Log( msg, "warning.log" );
if( curLeft != 0 )
(*this) << myendl;
TurnBlue();
(*this) << "WARNING: " << (const char*)&msg[0] << myendl;
TurnNormal();
CurrentMode( oldMode );
}
//o---------------------------------------------------------------------------o
//| Function - Error
//| Date - Unknown
//| Programmer - Unknown
//o---------------------------------------------------------------------------o
//| Purpose - Writes to the error log and the console.
//o---------------------------------------------------------------------------o
void CConsole::Error( const char *toWrite, ... )
{
UI08 oldMode = CurrentMode();
CurrentMode( ERRORMODE );
va_list argptr;
char msg[MAX_CONSOLE_BUFF];
va_start( argptr, toWrite );
vsnprintf( msg, MAX_CONSOLE_BUFF, toWrite, argptr );
va_end( argptr );
Log( msg, "error.log" );
if( curLeft != 0 )
(*this) << myendl;
TurnRed();
(*this) << "ERROR: " << (const char*)&msg[0] << myendl;
TurnNormal();
CurrentMode( oldMode );
}
bool ViewPort::Divisor::Divide(Divisor *Divisor, const double &Size)
{
// Add a new window to the split.
if(CurrentMode() == 2)
return false;
SubDivisors.push_back(Divisor);
Sizes.push_back(Size);
return true;
}
bool ViewPort::Divisor::SetHorizontal(bool Horizontal)
{
// Change split mode to horozontal split
if(CurrentMode() == 2)
return false;
this->Horizontal = Horizontal;
return true;
}
