int main(int argc, char **argv) { signal(SIGTERM, safe_term); signal(SIGINT, safe_term); signal(SIGQUIT, safe_term); signal(SIGHUP, safe_term); Servo s; g_s = &s; int sleep_usecs = (int)(1000000.0 / s.pos_send_freq); while (s.happy()) { usleep(sleep_usecs); s.send_pos(); } g_s = NULL; return 0; }