QB Robotics N.1 qb SoftHand Research 24 V, Общее руководство

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QBSOFTHAND RESEARCH USER MANUAL — 39
if (result != 0 || status != TRUE) {
std::cout << "ERROR: fails while activating motor" << std::endl;
return -1;
}
// ...
short int currents[2]; // only the first value is meaningful
short int positions[3]; // only the first value is meaningful
if (commGetMeasurements(&file_descriptor, device_id, positions) < 0) {
std::cout << "ERROR: fails while retrieving motor position" << std::endl;
return -1;
}
std::cout <<
"INFO : motor position is " << positions[0] << std::endl;
if (commGetCurrents(&file_descriptor, device_id, currents) < 0) {
std::cout << "ERROR: fails while retrieving motor current" << std::endl;
return -1;
}
std::cout <<
"INFO : motor current is " << currents[0] << std::endl;
// ...
short int commands[2];
commands[0] = 10000; // nearly half closure (max is 19000, min is 0)
commands[1] = 0; // must be always 0 (only the first value is meaningful)
commSetInputs(&file_descriptor, device_id, commands);
usleep(1000000);
if (commGetMeasurements(&file_descriptor, device_id, positions) < 0) {
std::cout << "ERROR: fails while retrieving motor position" << std::endl;
return -1;
}
std::cout <<
"INFO : motor position is " << positions[0] << std::endl;
commands[0] = 0; // fully open (max is 19000, min is 0)
commands[1] = 0; // must be always 0 (only the first value is meaningful)
commSetInputs(&file_descriptor, device_id, commands);
usleep(1000000);
// ...
commActivate(&file_descriptor, device_id, FALSE); //deactivate motor
usleep(10000);
char status;
int result = commGetActivate(&file_descriptor, device_id, &status);
if (result != 0 || status != FALSE) {
std::cout << "ERROR: fails while deactivating motor" << std::endl;
return -1;
}
// ...