- alpha parameter configure
- alpha_setting.h
- alpha_setting.c
- alpha motion control
- alpha_motion_control.h
- alpha_motion_control.c
- alpha_motion_test.c
- encoder listening
- am335x_setting.h
- am335x_setting.c
- console listening
- cmdparser.h
- cmdparser.c
| API | note |
|---|---|
| open_dev() | 读取参数，确认配置 |
| close_dev() | |
| set_acce_time() | (0.1ms) |
| set_dece_time() | (0.1ms) |
| set_speed() | (degree/s) |
| set_max_left_point() | (degree) |
| set_max_right_point() | (degree) |
| run_to_angle() | (degree) |
| run_to_direction() | left/right |
| cancel_task() | |
| stop_run() | |
| check() | 开机检验 |
| get_status() | [角度][状态] |
note:
1. 电机 - positions/circle 40000
2. 编码器 - positions/circle 65535
3. 转速比 - motor/encoder 252.5
4. 角度: %.3f(三位小数)
5. 状态: INP(or MAXL or MAXR) EOPE(operation error) LIMI(over limit)
6. 角度帧头: $ 帧尾 '\r'
7. 状态帧头: # 帧尾 '\r'
The timespec comes from POSIX, so you have to 'enable' POSIX definitions:
#if __STDC_VERSION__ >= 199901L
#define _XOPEN_SOURCE 600
#else
#define _XOPEN_SOURCE 500
#endif /* __STDC_VERSION__ */
#include <time.h>
int main()
{
struct timespec asdf;
return 0;
}
For the warning: implicit declaration of function 'usleep':
gcc -std=gnu99
the client for control the server
https://github.com/stephane/libmodbus
https://github.com/armink/EasyLogger
https://github.com/ndevilla/iniparser