int main(int argc, const char * argv[])
{
string target,errmsg;
int power;
YMotor *motor;
YCurrent *current;
YVoltage *voltage;
YTemperature *temperature;
// parse command line
if (argc < 2) {
usage();
}
target = (string) argv[1];
power = atoi(argv[2]);
// Setup the API to use local USB devices
if (YAPI::RegisterHub("usb", errmsg) != YAPI_SUCCESS) {
cerr << "RegisterHub error: " << errmsg << endl;
return 1;
}
if (target == "any") {
// find the serial# of the first available motor
motor = YMotor::FirstMotor();
if (motor == NULL) {
cout << "No module connected (check USB cable)" << endl;
return 1;
}
target= motor->get_module()->get_serialNumber();
}
// retreive motor, current, voltage and temperature features from the device
motor = YMotor::FindMotor(target + ".motor");
current = YCurrent::FindCurrent(target + ".current");
voltage = YVoltage::FindVoltage(target + ".voltage");
temperature = YTemperature::FindTemperature(target + ".temperature");
// lets start the motor
if (motor->isOnline()) {
// if motor is in error state, reset it.
if (motor->get_motorStatus()>=YMotor::MOTORSTATUS_LOVOLT) {
motor->resetStatus();
}
motor->drivingForceMove(power,2000); // ramp up to power in 2 seconds
while (1) {
// display motor status
cout << "Status=" << motor->get_advertisedValue() << " "
<< "Voltage=" << voltage->get_currentValue() << "V "
<< "Current=" << current->get_currentValue()/1000 << "A "
<< "Temp=" << temperature->get_currentValue() << "deg C" << endl;
YAPI::Sleep(1000, errmsg); // wait for one second
}
} else {
cout << "Module not connected (check identification and USB cable)"<< endl;
}
return 0;
}
int main(int argc, const char * argv[])
{
string errmsg;
string target;
YVoltage *sensor;
YVoltage *sensorAC;
YVoltage *sensorDC;
YModule *m;
if (argc < 2) {
usage();
}
target = (string) argv[1];
YAPI::DisableExceptions();
// Setup the API to use local USB devices
if (YAPI::RegisterHub("usb", errmsg) != YAPI_SUCCESS) {
cerr << "RegisterHub error: " << errmsg << endl;
return 1;
}
if (target == "any") {
// retreive any voltage sensor (can be AC or DC)
sensor = YVoltage::FirstVoltage();
if (sensor == NULL) {
cerr << "No module connected (Check cable)" << endl;
exit(1);
}
} else {
sensor = YVoltage::FindVoltage(target + ".voltage1");
}
// we need to retreive both DC and AC voltage from the device.
if (sensor->isOnline()) {
m = sensor->get_module();
sensorDC = YVoltage::FindVoltage(m->get_serialNumber() + ".voltage1");
sensorAC = YVoltage::FindVoltage(m->get_serialNumber() + ".voltage2");
} else {
cerr << "No module connected (Check cable)" << endl;
exit(1);
}
while(1) {
if (!sensorDC->isOnline()) {
cout << "Module disconnected" << endl;
break;
}
cout << "Voltage, DC : " << sensorDC->get_currentValue() << " v";
cout << " AC : " << sensorAC->get_currentValue() << " v";
cout << " (press Ctrl-C to exit)" << endl;
YAPI::Sleep(1000, errmsg);
};
yFreeAPI();
return 0;
}
