void parse_opts(int argc, char **argv)
{
while((c = getopt(argc,argv,"hjp:f:a:bi:d:x:n:o:")) != -1)
{
switch(c)
{
case 'h' : hflag = 1; break; /* help */
case 'p' : Motor.setMotorParam();
Motor.getFullStatus1();
Motor.runInit();
Motor.drive(atoi(optarg)); break;
case 'a' : Motor.setAddress(strtol (optarg,NULL,16)); break;
case 'j' : json_flag = 1; break;
case 'b' : brute_flag = 1; break;
case 'i' : Motor.setIrun(atoi(optarg)); break;
case 'd' : Motor.setIhold(atoi(optarg)); break;
case 'x' : Motor.setVmax(atoi(optarg)); break;
case 'n' : Motor.setVmin(atoi(optarg)); break;
case 'o' : Motor.burnNewAddress(strtol(optarg,NULL,16));break;
}
}
if (hflag | (argc == 1))
{
printf("This program is designed, to easily interact with a stepper-motor connected to the GNUBLIN.\n\n"
"-h Show this help\n"
"-j Convert output to json format.\n"
"-b show output in raw format.\n"
"-a <I2C-address> Specify the stepper modules I2C-address.default=0x60\n"
"-i <Irun> Specify the Irun parameter (0-15)\n"
"-d <Ihold> Specify the iholD parameter (0-15)\n"
"-x <vmax> Specify the vmaX parameter (0-15)\n"
"-n <vmin> Specify the vmiN parameter (0-15)\n"
"-p <Position> Specify the desired position. Hint: The Position argument should be the last one\n"
"-o <new_address> burns the new I2C Address to the controller\n\n"
"Examples:\n\n"
"\tDrive the motor to position 3000 and use I2C-address 0x60:\n"
"\t%s -a 0x60 -p 3000\n"
"\tA complete rotation is position 3200, two rotations 6400 and so on.\n", argv[0]);
exit(1);
}
}
int main () {
//SetMotorParam
Motor.setVmax(4);
Motor.setMotorParam();
//GetFullStatus1 command: This Command must be executed before Operating
Motor.getFullStatus1();
//RunInit command: This Command must be executed before Operating
Motor.runInit();
Motor.drive(10000);
while(Motor.getMotionStatus()!=0){ //wait until Motor stands still
usleep(10000);
}
Motor.drive(-10000);
}
int main(int argc, char** argv) {
Motor.setAddress(slave_address);
parse_opts(argc, argv);
}
