37 lines
892 B
C++
37 lines
892 B
C++
#include "serialPort/SerialPort.h"
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#include <unistd.h>
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int main() {
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SerialPort serial("/dev/ttyUSB0");
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MotorCmd cmd;
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MotorData data;
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while(true) {
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cmd.motorType = MotorType::GO_M8010_6;
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cmd.id = 0;
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cmd.mode = 1;
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cmd.K_P = 0.0;
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cmd.K_W = 0.05;
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cmd.Pos = 0.0;
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cmd.W = 6.28*6.33;
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cmd.T = 0.0;
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serial.sendRecv(&cmd,&data);
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if(data.correct == true)
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{
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std::cout << std::endl;
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std::cout << "motor.Pos: " << data.Pos << " rad" << std::endl;
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std::cout << "motor.Temp: " << data.Temp << " ℃" << std::endl;
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std::cout << "motor.W: " << data.W << " rad/s"<<std::endl;
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std::cout << "motor.T: " << data.T << " N.m" << std::endl;
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std::cout << "motor.MError: " << data.MError << std::endl;
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std::cout << std::endl;
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}
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usleep(200);
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}
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}
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