test_manual_mcdc3006s.cpp File Reference

The test file for the driver MCDC3006S. More...

#include "maggie_motor_drivers/mcdc3006s.h"

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Defines
#define	DEFAULT_SEMFILE   "/robot/etc/semDrive"
#define	DEFAULT_SERIAL_DEVICE   "/dev/brazo_derecho"
#define	FALSE   0
#define	TRUE   1
Typedefs
typedef int	boolean
Functions
int	main (int argc, char *argv[])
void	mainMenu (Mcdc3006s &motor, driverSensor_t *odo, driverConf_t *dc)
	Main Menu. Shows the menu and performs usered entered commands until the user exits de program.
int	moveToPosition (Mcdc3006s &motor, long int position, boolean relative, driverSensor_t *odo)
	Moves the Driver MCDC3006S to an absolute position.

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Detailed Description

The test file for the driver MCDC3006S.

Author:

Raul Perula-Martinez <raul.perula@uc3m.es>

Date:

2015-04

Author:

Victor Gonzalez <vgonzale@ing.uc3m.es>

Date:

2009-06

Copyright:

Copyright (C) 2015 University Carlos III of Madrid. All rights reserved. LEUC3M v1.0, see LICENSE.txt

This program is free software: you can redistribute it and/or modify it under the terms of the Licencia Educativa UC3M as published by the University Carlos III of Madrid, either version 1.0, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY. See the Licencia Educativa UC3M version 1.0 or any later version for more details.

A copy of the Licencia Educativa UC3M is in the LICENSE file.

Definition in file test_manual_mcdc3006s.cpp.

---

Define Documentation

#define DEFAULT_SEMFILE   "/robot/etc/semDrive"

Definition at line 32 of file test_manual_mcdc3006s.cpp.

#define DEFAULT_SERIAL_DEVICE   "/dev/brazo_derecho"

Definition at line 31 of file test_manual_mcdc3006s.cpp.

#define FALSE   0

Definition at line 29 of file test_manual_mcdc3006s.cpp.

#define TRUE   1

Definition at line 28 of file test_manual_mcdc3006s.cpp.

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Typedef Documentation

typedef int boolean

Definition at line 34 of file test_manual_mcdc3006s.cpp.

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Function Documentation

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 409 of file test_manual_mcdc3006s.cpp.

void mainMenu	(	Mcdc3006s &	motor,
		driverSensor_t *	odo,
		driverConf_t *	dc
	)

Main Menu. Shows the menu and performs usered entered commands until the user exits de program.

Definition at line 83 of file test_manual_mcdc3006s.cpp.

int moveToPosition	(	Mcdc3006s &	motor,
		long int	position,
		boolean	relative,
		driverSensor_t *	odo
	)

Moves the Driver MCDC3006S to an absolute position.

Parameters:

position	is the position where the driver should move
relative	is a boolean that checks if the movement is relative or not
odo	is the reference to a t_odometry type where the driver odometry is stored
dc	is the Driver Configuration structure where some data of the driver is stored

Returns:

0 if everything OK

-1 at the driver level

Definition at line 47 of file test_manual_mcdc3006s.cpp.