int main() { firmware_init(); //initialize firmware controller_run(); //run control logic return -1; //should never get here }
int YARPMEIDeviceDriver::controllerRun(void *axis) { int16 rc = 0; int16 *ax = (int16 *) axis; while(!motion_done(*ax)); // required otherwise controller_run may fail rc = controller_run(*ax); while(!motion_done(*ax)); //LATER: check this return rc; }