kmot_pantilt.c File Reference

Provide a basic test program to control a K-Team pantilt camera with a KoreMotor using the KoreBot library. More...

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Defines
#define	MARGIN   20
#define	TGT_MARGIN   100
Functions
void	InitMotor (knet_dev_t *mot)
knet_dev_t *	PantiltOpen (int motor)
int	main (int argc, char *argv[])

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Detailed Description

Provide a basic test program to control a K-Team pantilt camera with a KoreMotor using the KoreBot library.

K-Team pan-tilt test program

Author:

Pierre Bureau (K-Team SA)

Note:

Copyright (C) 2004 K-TEAM SA

Definition in file kmot_pantilt.c.

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Define Documentation

#define MARGIN   20

Definition at line 26 of file kmot_pantilt.c.

Referenced by main().

#define TGT_MARGIN   100

Definition at line 27 of file kmot_pantilt.c.

Referenced by main().

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Function Documentation

void InitMotor

(

knet_dev_t *

mot

)

Definition at line 29 of file kmot_pantilt.c.

References kmot_ConfigurePID(), kmot_ResetError(), kmot_SetBlockedTime(), kmot_SetLimits(), kmot_SetMargin(), kmot_SetMode(), kmot_SetOptions(), kmot_SetSampleTime(), kmot_SetSpeedProfile(), kMotRegCurrent, kMotRegPos, kMotRegSpeed, kMotSWOptStopMotorBlk, and kMotSWOptWindup.

Referenced by main().

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

Todo:

check args should be rewriten using libpopt

Definition at line 68 of file kmot_pantilt.c.

References InitMotor(), kb_init(), kb_set_debug_level(), kmot_GetFWVersion(), kmot_GetMeasure(), kmot_GetStatus(), KMOT_REVISION, kmot_SearchLimits(), kmot_SetMode(), kmot_SetPoint(), KMOT_VERSION, kMotMesPos, kMotRegPos, kMotRegPosProfile, MARGIN, maxpos0, maxpos1, minpos0, minpos1, motor0, motor1, PantiltOpen(), position, and TGT_MARGIN.

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knet_dev_t* PantiltOpen

(

int

motor

)

Definition at line 46 of file kmot_pantilt.c.

References KNET_BUS_ANY, and knet_open().

Referenced by main().

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