KBR.c File Reference

Include dependency graph for KBR.c:

Go to the source code of this file.

Functions
static void	ctrlc_handler (int sig)
int	quit (int argc, char *argv[], void *data)
int	stop (int argc, char *argv[], void *data)
int	right (int argc, char *argv[], void *data)
int	left (int argc, char *argv[], void *data)
int	right3 (int argc, char *argv[], void *data)
int	left3 (int argc, char *argv[], void *data)
int	right2 (int argc, char *argv[], void *data)
int	left2 (int argc, char *argv[], void *data)
int	test (int argc, char *argv[], void *data)
int	help (int argc, char *argv[], void *data)
int	main (int argc, char *argv[])
void	kmot_GetSpeedMultiplier (knet_dev_t *dev, unsigned short *mult)
void	kmot_SetSpeedMultiplier (knet_dev_t *dev, int mode)
Variables
static int	quitReq = 0
static int	stopReq = 0
static int	currentCommand = 0
static FILE *	logfile
static knet_dev_t *	motor
static pthread_t	log_task
static kb_command_t	cmds []
static char	buf [1024]

---

Function Documentation

static void ctrlc_handler

(

int

sig

)

[static]

Make sure the program terminate properly on a ctrl-c

Definition at line 43 of file KBR.c.

References stopReq.

int help	(	int	argc,
		char *	argv[],
		void *	data
	)

Display a list of available commands.

Definition at line 453 of file koala_GoAutomation.c.

void kmot_GetSpeedMultiplier	(	knet_dev_t *	dev,
		unsigned short *	mult
	)

This function gets the pid speed multiplier.

Definition at line 158 of file kmot.c.

void kmot_SetSpeedMultiplier	(	knet_dev_t *	dev,
		int	mode
	)

kmot_SetSpeedMultiplier -

Parameters:

	dev	KNet Device Descriptor corresponding to the motor
	prescale

Definition at line 700 of file kmot.c.

int left	(	int	argc,
		char *	argv[],
		void *	data
	)

Set a new open loop command for the current motor. The controller must be properly initialized. syntax: openloop <command>

Definition at line 93 of file KBR.c.

References kmot_GetMeasure(), kmot_SetMode(), kmot_SetPoint(), kMotMesCurrent, kMotModeStopMotor, and kMotRegOpenLoop.

Here is the call graph for this function:

int left2	(	int	argc,
		char *	argv[],
		void *	data
	)

Set a new open loop command for the current motor. The controller must be properly initialized. syntax: openloop <command>

Definition at line 152 of file KBR.c.

References kmot_SetMode(), kmot_SetPoint(), kMotModeStopMotor, and kMotRegOpenLoop.

Here is the call graph for this function:

int left3	(	int	argc,
		char *	argv[],
		void *	data
	)

Set a new open loop command for the current motor. The controller must be properly initialized. syntax: openloop <command>

Definition at line 125 of file KBR.c.

References kmot_SetMode(), kmot_SetPoint(), kMotModeStopMotor, and kMotRegOpenLoop.

Here is the call graph for this function:

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

Definition at line 217 of file KBR.c.

References ctrlc_handler(), kb_init(), kb_msg(), kb_parse_command(), kb_set_debug_level(), kmot_ConfigurePID(), kmot_GetFWVersion(), kmot_ResetError(), KMOT_REVISION, kmot_SetBlockedTime(), kmot_SetLimits(), kmot_SetMargin(), kmot_SetMode(), kmot_SetOptions(), kmot_SetSampleTime(), kmot_SetSpeedProfile(), KMOT_VERSION, kMotModeIdle, kMotRegCurrent, kMotRegPos, kMotRegSpeed, kMotSWOptStopMotorBlk, kMotSWOptWindup, KNET_BUS_I2C, knet_close(), knet_open(), quitReq, and status().

Here is the call graph for this function:

int quit	(	int	argc,
		char *	argv[],
		void *	data
	)

Quit the program.

Definition at line 51 of file KBR.c.

References quitReq.

int right	(	int	argc,
		char *	argv[],
		void *	data
	)

Set a new open loop command for the current motor. The controller must be properly initialized. syntax: openloop <command>

Definition at line 70 of file KBR.c.

References kmot_GetMeasure(), kmot_SetMode(), kmot_SetPoint(), kMotMesCurrent, kMotModeStopMotor, and kMotRegOpenLoop.

Here is the call graph for this function:

int right2	(	int	argc,
		char *	argv[],
		void *	data
	)

Definition at line 136 of file KBR.c.

References kmot_SetMode(), kmot_SetPoint(), kMotModeStopMotor, and kMotRegOpenLoop.

Here is the call graph for this function:

int right3	(	int	argc,
		char *	argv[],
		void *	data
	)

Definition at line 109 of file KBR.c.

References kmot_SetMode(), kmot_SetPoint(), kMotModeStopMotor, and kMotRegOpenLoop.

Here is the call graph for this function:

int stop	(	int	argc,
		char *	argv[],
		void *	data
	)

Stop the current motor (set mode to stop motor mode).

Definition at line 59 of file KBR.c.

References kmot_SetMode(), and kMotModeStopMotor.

Here is the call graph for this function:

int test	(	int	argc,
		char *	argv[],
		void *	data
	)

Set a new open loop command for the current motor. The controller must be properly initialized. syntax: openloop <command>

Definition at line 170 of file KBR.c.

References currentCommand, kmot_SetPoint(), and kMotRegOpenLoop.

Here is the call graph for this function:

---

Variable Documentation

char buf[1024] [static]

Main program to process the command line.

Definition at line 215 of file KBR.c.

kb_command_t cmds[] [static]

Initial value:

 {
  { "quit"            , 0 , 0 , quit } ,
  { "1"               , 2 , 2 , right } ,
  { "2"               , 2 , 2 , left } ,
  { "11"               , 0 , 0 , right2 } ,
  { "12"               , 0 , 0 , left2 } ,
  { "21"               , 0 , 0 , right3 } ,
  { "22"               , 0 , 0 , left3 } ,
  { "3"               , 0 , 0 , test } ,
  { "help"            , 0 , 0 ,  help } ,
  { NULL              , 0 , 0 , NULL }
}

The command table contains: command name : min number of args : max number of args : the function to call

Definition at line 184 of file KBR.c.

int currentCommand = 0 [static]

Definition at line 34 of file KBR.c.

Referenced by kmot_log_task(), moveat(), moveatprofile(), openloop(), prescaler(), setmultiplier(), setspeed(), setspeedprofile(), settorque(), test(), and velprescaler().

pthread_t log_task [static]

Definition at line 38 of file KBR.c.

Referenced by startlog(), and stoplog().

FILE* logfile [static]

Definition at line 36 of file KBR.c.

Referenced by kmot_log_task().

knet_dev_t* motor [static]

Definition at line 37 of file KBR.c.

Referenced by kmot_ipConfigPID(), kmot_ipFirmware(), kmot_ipInitMotor(), kmot_ipMeasure(), kmot_ipResetError(), kmot_ipSetPointSource(), kmot_ipSetPos(), kmot_ipSetSpeed(), kmot_ipStatus(), and main().

int quitReq = 0 [static]

Definition at line 32 of file KBR.c.

int stopReq = 0 [static]

Definition at line 33 of file KBR.c.

Referenced by ctrlc_handler(), and test().