---

dcmotor2test.c

Go to the documentation of this file.

#include <stdio.h>
#include <string.h>
#include <stdlib.h>

#ifdef USE_DCMOTOR2
#include "dcmotor2.h"
#else
#include "dcmotor2.h"
#endif

DC_MOTOR_STRUCT dcm;
int  skip_cycles=0;
double cycle_time=0.1;

int main(int argc, const char **argv)
{
  int i = 0;
  if(argc > 1)
    {
      cycle_time=strtod(argv[1],0);
    }
  if(argc > 2)
    {
      skip_cycles=strtol(argv[2],0,0);
      if(skip_cycles > 0)
        {
          cycle_time = cycle_time/(skip_cycles+1);
        }
    }
  dcmotorInit(&dcm);
  dcmotorSetCycleTime(&dcm, cycle_time);
  dcmotorIniLoad(&dcm,"sim.ini","AXIS_0");
  dcmotorSetCycleTime(&dcm, cycle_time);
  dcmotorSetParameters(&dcm, dcm);

  while(1)
    {
      for(i = 0; i < skip_cycles; i++)
        {
          dcmotorRunCycle(&dcm,1.0);
        }
      printf("%f\n",dcmotorRunCycle(&dcm,1.0));
    }

}

---