Diff: main.cpp

Revision:

0:5390ac30c076

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Feb 24 05:55:50 2014 +0000
@@ -0,0 +1,67 @@
+#include "mbed.h"
+#include <stdio.h>
+#include <linact.hpp>
+
+using namespace IAI;
+LinActBuf lbuf;
+LinearActuator linact;
+DigitalOut myled(LED1);
+
+int main() {
+    printf("Linear Actuator\r\n");
+    lbuf.buf[0] = 0x3f;
+    lbuf.buf[1] = 0x03;
+    lbuf.buf[2] = 0xf7;
+    lbuf.buf[3] = 0x00;
+    lbuf.buf[4] = 0x00;
+    lbuf.buf[5] = 0x02;
+    lbuf.len = 6;
+    lbuf.calc_crc();
+    printf("%s\r\n", lbuf.as_string());
+
+    linact.getGwStatusStr();
+    printf("GWSTATUS: %s\r\n", linact.buffer.as_string());
+    linact.getGwStartStr();
+    printf("GWSTART: %s\r\n", linact.buffer.as_string());
+
+    linact.getAxisStatus(0);
+    printf("Get AXIS 0 Status: %s\r\n", linact.buffer.as_string());
+
+    linact.getAxisStatus(1);
+    printf("Get AXIS 1 Status: %s\r\n", linact.buffer.as_string());
+
+    linact.getAxisPos(0);
+    printf("Get AXIS0 Pos: %s\r\n", linact.buffer.as_string());
+
+    linact.getSetAxisPos(1, 1000);
+    printf("Get Set AXIS0 Pos: %s\r\n", linact.buffer.as_string());
+
+    linact.getSetAxisPos(1, 100000001);
+    printf("Get Set AXIS0 Pos: %s\r\n", linact.buffer.as_string());
+
+    linact.getAxisStart(0);
+    printf("Get Set AXIS0 Start: %s\r\n", linact.buffer.as_string());
+
+    linact.getAxisPause(0);
+    printf("Get Set AXIS0 Pause: %s\r\n", linact.buffer.as_string());
+
+    linact.getAxisReset(0);
+    printf("Get Set AXIS0 Reset: %s\r\n", linact.buffer.as_string());
+
+    linact.getAxisBrakeRelease(0);
+    // It *LOOKS* like the CRC calculation in the datasheet is wrong?
+    printf("Get Set AXIS0 Brake Release: %s\r\n", linact.buffer.as_string());
+
+    printf("\r\n");
+    linact.send();
+    printf("\r\n");
+    //linact.receiveStdin(5);
+    //linact.receiveStdin(2);
+
+    while(1) {
+        myled = 1;
+        wait(0.2);
+        myled = 0;
+        wait(0.2);
+    }
+}