void era_motors_init(era_motors_p motors, can_device_p can_dev,
era_config_joint_p config) {
if (!can_dev) {
can_dev = malloc(sizeof(can_device_t));
can_init(can_dev, 0);
}
epos_node_p node_a = (epos_node_p)motors;
config_p config_a = (config_p)config;
int i;
for (i = 0; i < sizeof(era_motors_t)/sizeof(epos_node_t); ++i)
epos_init(&node_a[i], can_dev, &config_a[i]);
era_motors_home_init(motors);
}
void epos_init_arg(epos_node_p node, int argc, char **argv, const char*
prefix) {
can_device_p can_dev = malloc(sizeof(can_device_t));
can_init_arg(can_dev, argc, argv, 0);
config_t config;
if (config_init_arg(&config, argc, argv, (prefix) ? prefix :
EPOS_CONFIG_ARG_PREFIX)) {
config_print_help(stdout, &epos_default_config, EPOS_CONFIG_ARG_PREFIX);
config_print_help(stdout, &can_default_config, CAN_CONFIG_ARG_PREFIX);
exit(0);
}
epos_init(node, can_dev, &config);
config_destroy(&config);
}