homing.cpp

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// Copyright (c) 2012 Fraunhofer Institute
// for Manufacturing Engineering and Automation (IPA)
// See the file license.txt for copying permission.

// This program performs homing (referencing) of a device.
// See the user manual for details:
// https://github.com/ipa-tys/canopen/blob/master/doc/usermanual.pdf?raw=true

#include <utility>
#include "canopen.h"

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

  if (argc != 3) {
    std::cout << "Arguments:" << std::endl
              << "(1) device file" << std::endl
              << "(2) CAN deviceID" << std::endl
              << "Example: ./homing /dev/pcan32 12" << std::endl;
    return -1;
  }
  std::string deviceFile = std::string(argv[1]);
  uint16_t CANid = std::stoi(std::string(argv[2]));

  // configure CANopen device objects and custom incoming and outgoing PDOs:

  canopen::devices[ CANid ] = canopen::Device(CANid);
  canopen::init(deviceFile, std::chrono::milliseconds(10));
  
  canopen::sendSDO(CANid, canopen::modes_of_operation,
                   canopen::modes_of_operation_homing_mode);
  canopen::sendSDO(CANid, canopen::controlword,
                   (uint16_t) (canopen::controlword_enable_operation |
                               canopen::controlword_start_homing));
  std::this_thread::sleep_for(std::chrono::milliseconds(500));
}