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;
}
void era_motors_position_profile_stop(era_motors_p motors) {
int i;
epos_node_p node_a = (epos_node_p)motors;
for (i = 0; i < sizeof(era_motors_t)/sizeof(epos_node_t); ++i)
epos_control_stop(&node_a[i].control);
}
int epos_position_profile_stop(epos_node_t* node) {
return epos_control_stop(&node->control);
}
int epos_home_stop(epos_node_t* node) {
if (!epos_device_set_control(&node->dev, EPOS_HOME_CONTROL_HALT))
epos_control_stop(&node->control);
return node->dev.error.code;
}
int epos_velocity_stop(epos_node_p node) {
return epos_control_stop(&node->control);
}