int epos_home(epos_node_p node, double timeout) {
epos_home_t home;
epos_home_init(&home,
config_get_int(&node->config, EPOS_PARAMETER_HOME_METHOD),
config_get_float(&node->config, EPOS_PARAMETER_HOME_CURRENT),
deg_to_rad(config_get_float(&node->config, EPOS_PARAMETER_HOME_VELOCITY)),
deg_to_rad(config_get_float(&node->config,
EPOS_PARAMETER_HOME_ACCELERATION)),
deg_to_rad(config_get_float(&node->config, EPOS_PARAMETER_HOME_POSITION)));
home.type = config_get_int(&node->config, EPOS_PARAMETER_HOME_TYPE);
home.offset = deg_to_rad(config_get_float(&node->config,
EPOS_PARAMETER_HOME_OFFSET));
if (!epos_home_start(node, &home)) {
epos_home_wait(node, timeout);
return EPOS_ERROR_NONE;
}
else
return EPOS_ERROR_HOME;
}
int main(int argc, char **argv) {
config_parser_t parser;
epos_node_t node;
config_parser_init(&parser,
"Start EPOS controller in homing mode",
"Establish the communication with a connected EPOS device and attempt to "
"start the controller in homing mode. The controller will be stopped "
"if SIGINT is received or the homing operation is completed. 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_node_home(&node, 0.0);
if (node.dev.error.code != EPOS_DEVICE_ERROR_WAIT_TIMEOUT)
error_exit(&node.error);
while (!quit) {
if (epos_home_wait(&node, 0.1) != EPOS_DEVICE_ERROR_WAIT_TIMEOUT)
error_exit(&node.dev.error);
};
epos_home_stop(&node);
error_exit(&node.dev.error);
epos_node_disconnect(&node);
error_exit(&node.error);
epos_node_destroy(&node);
return 0;
}