test_epos2.cpp

This is an example on how to use epos2

This example shows how to move a motor in a specified velocity. It initates a new epos2 object called controller, checks if exist any error (always a CAN passive mode error exists at switch on the controller). Then it tries to enable motor in velocity mode and moves it 5 seconds at 300 rpm in motor. After this time, it deletes the object then epos2 is disconnected.

This should be the output of the example

* $ sudo ./bin/test_epos2
* Epos2 Example:
* <Epos2 hardware state> RED LED on (if just plugged power in)
* [FTDI] ftdi_read_chipid: 0
* [FTDI] chipid: 667934CD
* [EPOS2] online
*       RX No Data
*       : Resource temporarily unavailable
* [EPOS2] State: 1
* [EPOS2] to Fault Reset
* [EPOS2] State: 3
* [EPOS2] to Shutdown
* [EPOS2] State: 4
* [EPOS2] to Switch on
* [EPOS2] State: 5
* [EPOS2] to Enable Operation
* [EPOS2] State: 8
* [EPOS2] Motor Ready
* [EPOS2] Operation Mode: -2
* <Epos2 hardware state> GREEN LED on
* [EPOS2] Mode Velocity Started
* Wait 5 seconds
* [EPOS2] Mode Velocity Stopped
*
* [EPOS2] offline
* <Epos2 hardware state> Green Led blinking
* Example ended
* 

/*
Copyright (C) 2009-2010 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
Author Martí Morta Garriga  (mmorta@iri.upc.edu)
All rights reserved.

This file is part of IRI EPOS2 Driver
IRI EPOS2 Driver is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License
along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#include <stdio.h>
#include <unistd.h>

#include <iostream>
#include "Epos2.h"

using namespace std;

int main(void){

        CEpos2 controller;

  cout << "\n EPOS2 EXAMPLE" << endl;


        try{

    // Initiate an EPOS 2 controller
    controller.setVerbose(true);

    cout << "\n  Example : Init\n" << endl;
    controller.init();

    // enable motor in velocity mode
    cout << "\n  Example : Enable Controller\n" << endl;
    controller.enableController();
    cout << "\n  Example : GREEN LED blinking (controller enabled)\n" << endl;
    sleep(2);

    cout << "\n  Example : Enable Motor\n" << endl;
    controller.enableMotor(controller.VELOCITY);
    cout << "\n  Example : GREEN LED on (motor enabled)\n" << endl;

    controller.setOperationMode(controller.VELOCITY);
    cout << "\n  Example : Current Position = " << controller.readPosition() << " [qc]" << endl;

    // set motor velocity in RPM
    cout << "\n  Example : Velocity (500 1/min) during 2 seconds\n" << endl;
    controller.setTargetVelocity(500);

    // start the movement
    controller.startVelocity();
    sleep(2);

    // stop the movement
    controller.stopVelocity();

    cout << "\n  Example : Getting profile\n" << endl;

    long int prof[7];
    controller.getProfileData(prof[0],prof[1],prof[2],prof[3],prof[4],prof[5],prof[6]);

    // start profile velocity
    cout << "\n  Example : Profile Velocity (500 1/min) during 2 seconds\n" << endl;
    controller.setOperationMode(controller.PROFILE_VELOCITY);
    controller.setTargetProfileVelocity(500);
    controller.startProfileVelocity();
    sleep(2);
    controller.stopProfileVelocity();

    cout << "\n  Example : Profile Position (to 0)\n" << endl;
    controller.setTargetProfilePosition(0);
    controller.setOperationMode(controller.PROFILE_POSITION);
    controller.startProfilePosition(controller.ABSOLUTE,true,true);

    cout << "\n  Example : Closing\n" << endl;

    controller.close();

    cout << "\n  EPOS2 : GREEN LED blinking\n" << endl;

        }catch(std::exception &e){
                cout << e.what() << endl << endl;
        }

        return 1;

}