int main(int argc, char **argv) {
if (argc < 2) {
fprintf(stderr, "usage: %s CURR [PARAMS]\n", argv[0]);
return -1;
}
float target_value = atof(argv[1]);
epos_node_t node;
epos_current_t curr;
epos_init_arg(&node, argc, argv, 0);
signal(SIGINT, epos_signaled);
if (epos_open(&node))
return -1;
epos_current_init(&curr, target_value);
if (!epos_current_start(&node, &curr)) {
while (!quit) {
fprintf(stdout, "\rEPOS current: %8.4f A",
epos_get_current(&node));
fflush(stdout);
}
fprintf(stdout, "\n");
epos_current_stop(&node);
}
epos_close(&node);
epos_destroy(&node);
return 0;
}
int era_motors_open(era_motors_p motors) {
int i, result = EPOS_ERROR_NONE;
epos_node_p node_a = (epos_node_p)motors;
for (i = 0; i < sizeof(era_motors_t)/sizeof(epos_node_t); ++i)
result |= epos_open(&node_a[i]);
if (result)
return ERA_MOTORS_ERROR_OPEN;
else
return ERA_MOTORS_ERROR_NONE;
}
int main(int argc, char **argv) {
epos_node_t node;
epos_init_arg(&node, argc, argv, 0);
if (epos_open(&node))
return -1;
printf("EPOS hardware version: 0x%04X (%s)\n", node.dev.hardware_version,
epos_device_names[node.dev.type]);
printf("EPOS software version: 0x%04X\n", node.dev.software_version);
epos_close(&node);
epos_destroy(&node);
return 0;
}
int main(int argc, char **argv) {
epos_node_t node;
epos_init_arg(&node, argc, argv, 0);
signal(SIGINT, epos_signaled);
if (epos_open(&node))
return -1;
while (!quit) {
fprintf(stdout, "\rEPOS sensor position: %10d steps",
epos_sensor_get_position(&node.sensor));
fflush(stdout);
}
fprintf(stdout, "\n");
epos_close(&node);
epos_destroy(&node);
return 0;
}
