example.cpp

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 * Author: Gonçalo Cabrita on 17/04/2012
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#include <ros/ros.h>
#include <canopen/CANopenMotorDriver.h>

#define AXIS_ID 1

//#define ENCODER_LINES_PER_REVOLUTION 500
//#define Tr 9213.0/9.0
//#define T 0.001

// Internal units conversion    
double no_usteps = 256;     // Number of micro-steps p/ step
double no_steps = 200;      // Number of steps p/ revolution
double Tr = 2*M_PI*0.05;    // Relation between motor and load
//double Tr = 2*M_PI*5;    // Relation between motor and load
double T = 0.0008;

int main(int argc, char** argv)
{
    ros::init(argc, argv, "canopen_motor_driver_example_node");
        
        ROS_INFO("CANopenMotorDriver Example Node");
    
    ros::NodeHandle nh;
    
    boost::thread t = boost::thread::thread(boost::bind(&ros::spin));
    
    canopen::CANopenMotorDriver motor(AXIS_ID, &nh);
    
    //motor.setupDCmotorWithEncoder(ENCODER_LINES_PER_REVOLUTION, Tr, T);
    motor.setupStepperMotor(no_steps, no_usteps, Tr, T);
    
    motor.startNode();
    
    ros::Duration(1.0).sleep();
    
    motor.readyToSwitchOn();
    
    ros::Duration(1.0).sleep();
    
    motor.switchOn();
    
    ros::Duration(2.0).sleep();
    
    motor.enableOperation();
    
    ros::Duration(1.0).sleep();
    
    motor.setupHomingMode(canopen::method_18, 20.0, 10.0, 10.0);
    //motor.setupPositionTrapezoidalProfileMode(10.0, 20.0, 10.0);
    //motor.setupVelocityProfileMode(0.05, 0.05);
    
    ros::Duration(1.0).sleep();
    
    motor.run();
    
    ros::Rate r(1);
        while(ros::ok())
        {
        r.sleep();
        }
    
    t.join();

    return(0);
}

//EOF