hengzz / motor-servo

motor-servo

module

• 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

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'

C99 Error

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

motor-client

the client for control the server

References

https://github.com/stephane/libmodbus
https://github.com/armink/EasyLogger
https://github.com/ndevilla/iniparser