read_write.cpp File Reference

#include <stdlib.h>
#include <stdio.h>
#include "mercury_sdk/mercury_sdk.h"

Go to the source code of this file.

Macros
#define	ADDR_MCY_TORQUE_ENABLE   0x30
#define	ADDR_MCY_GOAL_POSITION   0x4e
#define	ADDR_MCY_PRESENT_POSITION   0x56
#define	ADDR_MCY_HARDWARE_STATUS   0x6b
#define	MCY_ID   1
#define	BAUDRATE   1000000
#define	DEVICENAME   "/dev/ttyACM1"
#define	TORQUE_ENABLE   1
#define	TORQUE_DISABLE   0
#define	MCY_MINIMUM_POSITION_VALUE   100
#define	MCY_MAXIMUM_POSITION_VALUE   1000
#define	MCY_MOVING_STATUS_THRESHOLD   2
#define	ESC_ASCII_VALUE   0x1b

Functions
bool	synchroniseMotor (mercury::PortHandler *portHandler, mercury::PacketHandler *packetHandler)
int	getch ()
int	kbhit (void)
int	main ()

Macro Definition Documentation

ADDR_MCY_GOAL_POSITION

#define ADDR_MCY_GOAL_POSITION   0x4e

Definition at line 49 of file read_write.cpp.

ADDR_MCY_HARDWARE_STATUS

#define ADDR_MCY_HARDWARE_STATUS   0x6b

Definition at line 51 of file read_write.cpp.

ADDR_MCY_PRESENT_POSITION

#define ADDR_MCY_PRESENT_POSITION   0x56

Definition at line 50 of file read_write.cpp.

ADDR_MCY_TORQUE_ENABLE

#define ADDR_MCY_TORQUE_ENABLE   0x30

Definition at line 48 of file read_write.cpp.

BAUDRATE

#define BAUDRATE   1000000

Definition at line 55 of file read_write.cpp.

DEVICENAME

#define DEVICENAME   "/dev/ttyACM1"

Definition at line 56 of file read_write.cpp.

ESC_ASCII_VALUE

#define ESC_ASCII_VALUE   0x1b

Definition at line 65 of file read_write.cpp.

MCY_ID

#define MCY_ID   1

Definition at line 54 of file read_write.cpp.

MCY_MAXIMUM_POSITION_VALUE

#define MCY_MAXIMUM_POSITION_VALUE   1000

Definition at line 62 of file read_write.cpp.

MCY_MINIMUM_POSITION_VALUE

#define MCY_MINIMUM_POSITION_VALUE   100

Definition at line 61 of file read_write.cpp.

MCY_MOVING_STATUS_THRESHOLD

#define MCY_MOVING_STATUS_THRESHOLD   2

Definition at line 63 of file read_write.cpp.

TORQUE_DISABLE

#define TORQUE_DISABLE   0

Definition at line 60 of file read_write.cpp.

TORQUE_ENABLE

#define TORQUE_ENABLE   1

Definition at line 59 of file read_write.cpp.

Function Documentation

getch()

int getch

(

)

Definition at line 67 of file read_write.cpp.

kbhit()

int kbhit

(

void

)

Definition at line 84 of file read_write.cpp.

main()

int main

(

)

Definition at line 115 of file read_write.cpp.

synchroniseMotor()

bool synchroniseMotor	(	mercury::PortHandler *	portHandler,
		mercury::PacketHandler *	packetHandler
	)

Definition at line 244 of file read_write.cpp.