NishidalabYpspurDriver::~NishidalabYpspurDriver()
{
Spur_stop();
Spur_free();
ROS_INFO("Stop the robot");
}
int main(void)
{
if (!Spur_init()) {
fprintf(stderr, "ERROR : cannot open spur\n");
return -1;
}
// Setting up signal to stops when entering Ctrl-C.
setSigInt();
// Setting up velocity.
Spur_set_vel(0.3);
// Setting up acceleration.
Spur_set_accel(1.0);
// Setting up angular velocity.
Spur_set_angvel(1.5);
// Setting up angular acceleration.
Spur_set_angaccel(2.0);
// Setting up starting point.
Spur_set_pos_GL(0, 0, 0);
// <Write here>
// Stop!
Spur_stop();
return 0;
}
void ctrlC(int aStatus)
{
Spur_stop();
signal(SIGINT, NULL);
exit(aStatus);
}