void parse_opts(int argc, char** argv) {
while((c = getopt(argc, argv, "hjp:f:a:bi:d:x:n:o:cs:")) != -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;
case 's' :
Motor.setStepMode(atoi(optarg));
break;
case 'c' :
Motor.setAccShape(1);
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"
"-s <Stepmode> StepMode 0=Halfstep, 4=1/4µStep, 8=1/8µStep, 11=1/16µStep\n"
"-c Sets the AccShape Bit to 1 - Motor will not accelerate -> constant vmin speed\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);
}
}
