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Roboclaw encoders/ dutycycledrive complete.

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This commit is contained in:
James Goppert
2013-10-22 05:04:13 -04:00
parent ce68f93867
commit 174c86321c
5 changed files with 130 additions and 62 deletions
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src/drivers/roboclaw/roboclaw_main.cpp
+19 -9
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@@ -114,17 +114,25 @@ int roboclaw_main(int argc, char *argv[])
} else if (!strcmp(argv[1], "test")) {
if (argc < 4) {
printf("usage: roboclaw test device address\n");
const char * deviceName = "/dev/ttyS2";
uint8_t address = 128;
uint16_t pulsesPerRev = 1200;
if (argc == 2) {
printf("testing with default settings\n");
} else if (argc != 4) {
printf("usage: roboclaw test device address pulses_per_rev\n");
exit(-1);
} else {
deviceName = argv[2];
address = strtoul(argv[3], nullptr, 0);
pulsesPerRev = strtoul(argv[4], nullptr, 0);
}
const char *deviceName = argv[2];
uint8_t address = strtoul(argv[3], nullptr, 0);
printf("device:\t%s\taddress:\t%d\tpulses per rev:\t%ld\n",
deviceName, address, pulsesPerRev);
printf("device:\t%s\taddress:\t%d\n", deviceName, address);
roboclawTest(deviceName, address);
roboclawTest(deviceName, address, pulsesPerRev);
thread_should_exit = true;
exit(0);
@@ -163,11 +171,13 @@ int roboclaw_thread_main(int argc, char *argv[])
const char *deviceName = argv[1];
uint8_t address = strtoul(argv[2], nullptr, 0);
uint16_t pulsesPerRev = strtoul(argv[3], nullptr, 0);
printf("device:\t%s\taddress:\t%d\n", deviceName, address);
printf("device:\t%s\taddress:\t%d\tpulses per rev:\t%ld\n",
deviceName, address, pulsesPerRev);
// start
RoboClaw roboclaw(deviceName, address);
RoboClaw roboclaw(deviceName, address, pulsesPerRev);
thread_running = true;