int epos_position_profile_start(epos_node_t* node, epos_position_profile_t*
profile) {
int pos = epos_gear_from_angle(&node->gear, profile->target_value);
unsigned int vel = abs(epos_gear_from_angular_velocity(&node->gear,
profile->velocity));
unsigned int acc = abs(epos_gear_from_angular_acceleration(&node->gear,
profile->acceleration));
unsigned int dec = abs(epos_gear_from_angular_acceleration(&node->gear,
profile->deceleration));
short control = (profile->relative) ?
EPOS_POSITION_PROFILE_CONTROL_SET_RELATIVE :
EPOS_POSITION_PROFILE_CONTROL_SET_ABSOLUTE;
if (!epos_control_set_mode(&node->control, epos_control_profile_pos) &&
!epos_position_profile_set_velocity(&node->dev, vel) &&
!epos_profile_set_acceleration(&node->dev, acc) &&
!epos_profile_set_deceleration(&node->dev, dec) &&
!epos_profile_set_type(&node->dev, profile->type) &&
!epos_control_start(&node->control) &&
!epos_position_profile_set_target(&node->dev, pos)) {
profile->start_value = epos_node_get_position(node);
error_return(&node->dev.error);
timer_start(&profile->start_time);
epos_device_set_control(&node->dev, control);
timer_correct(&profile->start_time);
}
return node->dev.error.code;
}
int epos_home_start(epos_node_t* node, const epos_home_t* home) {
unsigned int switch_vel = abs(epos_gear_from_angular_velocity(&node->gear,
home->switch_vel));
unsigned int zero_vel = abs(epos_gear_from_angular_velocity(&node->gear,
home->zero_vel));
unsigned int acc = abs(epos_gear_from_angular_acceleration(&node->gear,
home->acceleration));
int offset = epos_gear_from_angle(&node->gear, home->offset);
int pos = epos_gear_from_angle(&node->gear, home->position);
if (!epos_control_set_mode(&node->control, epos_control_homing) &&
!epos_home_set_method(&node->dev, home->method) &&
!epos_home_set_current_threshold(&node->dev, home->current*1e3) &&
!epos_home_set_switch_search_velocity(&node->dev, switch_vel) &&
!epos_home_set_zero_search_velocity(&node->dev, zero_vel) &&
!epos_home_set_acceleration(&node->dev, acc) &&
!epos_home_set_offset(&node->dev, offset) &&
!epos_home_set_position(&node->dev, pos) &&
!epos_profile_set_type(&node->dev, home->type) &&
!epos_device_set_control(&node->dev, EPOS_DEVICE_CONTROL_SHUTDOWN) &&
!epos_control_start(&node->control))
epos_device_set_control(&node->dev, EPOS_HOME_CONTROL_START);
return node->dev.error.code;
}
int main(int argc, char **argv) {
config_parser_t parser;
epos_node_t node;
config_parser_init(&parser,
"Start EPOS controller in the selected operation mode",
"Establish the communication with a connected EPOS device and attempt to "
"start the controller in the selected operation mode. The controller will "
"be stopped if SIGINT is received. The communication interface depends "
"on the momentarily selected alternative of the underlying CANopen "
"library.");
epos_node_init_config_parse(&node, &parser, 0, argc, argv,
config_parser_exit_error);
config_parser_destroy(&parser);
signal(SIGINT, epos_signaled);
epos_node_connect(&node);
error_exit(&node.error);
epos_control_start(&node.control);
error_exit(&node.error);
while (!quit);
epos_control_stop(&node.control);
error_exit(&node.error);
epos_node_disconnect(&node);
error_exit(&node.error);
epos_node_destroy(&node);
return 0;
}
int epos_velocity_start(epos_node_p node, epos_velocity_p velocity) {
int result;
int vel = epos_gear_from_angular_velocity(&node->gear,
velocity->target_value);
if (!(result = epos_control_set_type(&node->control,
epos_control_velocity)) &&
!(result = epos_control_start(&node->control)))
result = epos_velocity_set_demand(&node->dev, vel);
return result;
}