CDeviceCAN::~CDeviceCAN()
{
HINSTANCE CANDll = NULL;
CloseCAN();
CANDll = GetModuleHandle(TEXT("ControlCAN"));
if(CANDll != NULL)
FreeLibrary(CANDll);//释放动态库句柄
CANDll = GetModuleHandle(TEXT("PCAN_USB"));
if(CANDll != NULL)
FreeLibrary(CANDll);//释放动态库句柄
}
/////////////////////////////////////////////////////////////////////////////////////////
// Program main
int _tmain(int argc, _TCHAR* argv[])
{
PrintInstruction();
memset(controlWord, 0, LEG_COUNT*LEG_JDOF*sizeof(controlWord[0][0]));
memset(statusWord, 0, LEG_COUNT*LEG_JDOF*sizeof(statusWord[0][0]));
memset(homingStatus, 0, LEG_COUNT*LEG_JDOF*sizeof(homingStatus[0][0]));
for (int ch = 0; ch < CAN_Ch_COUNT; ch++) {
for (int node = 0; node < NODE_COUNT; node++) {
if (node == 0) homingStatus[ch][node] = HOMING_DONE;
else homingStatus[ch][node] = HOMING_NONE;
}
}
// open CAN channel:
if (!OpenCAN())
return -1;
DriveReset();
DriveInit();
// start periodic communication:
// printf("start periodic communication...\n");
// StartCANListenThread();
/*SetModeOfOperation();
Sleep(50);
ReadyToSwitchOn();
Sleep(50);
SwitchedOn();
Sleep(50);
OperationEnable();
Sleep(50);*/
/*Shutdown();
Sleep(50);*/
// loop wait user input:
printf("main loop...\n");
MainLoop();
// stop periodic communication:
// printf("stop periodic communication...\n");
// StopCANListenThread();
DriveOff();
// close CAN channel:
CloseCAN();
return 0;
}
