int main(int argc, char **argv)
{
signal(SIGTERM, safe_term);
signal(SIGINT, safe_term);
signal(SIGQUIT, safe_term);
signal(SIGHUP, safe_term);
Servo s;
g_s = &s;
int sleep_usecs = (int)(1000000.0 / s.pos_send_freq);
while (s.happy())
{
usleep(sleep_usecs);
s.send_pos();
}
g_s = NULL;
return 0;
}
