LinearActTest.cpp

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file LinearActTest.cpp
*  \brief Runs Linear Actuators.
*  \author $Author: jayhawk_hokie $
*  \version $Revision: 1.1 $
*  \date    $Date: 2005/09/18 17:14:30 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*!
*/
//////////////////////////////////////////////////////////////////////////////////////////////////

// include communications
        extern "C" {
        #include "Hardware/satctl.h"
        #include "Hardware/common.h"
        }
// include standard output
        #include <iostream>

using namespace std; // shortcut for std::cout, std::endl, etc

// The main routine
int main() {
        char la_axis[80];
        char *buffer;
        char *portfn;         // Port filename 
        int portfd;
        double param_distance;

        buffer = (char *) malloc(256);

        while(1)
        {
                cout << "Enter which linear actuator to move (X,Y, or Z): ";
                cin >> la_axis;
                if(strchr(la_axis,'\n'))
                {
                        cout << "Exiting: \n";
                        return 0;
                }

                if(strchr(la_axis,'X'))  portfn = "/dev/ttyUSB0" ;
                if(strchr(la_axis,'Y'))  portfn = "/dev/ttyUSB1" ;
                if(strchr(la_axis,'Z'))  portfn = "/dev/ttyUSB2" ;

                init_serial(portfn, B9600, &(portfd));
                cout << "portfd = " << portfd << endl;
                hear(portfd, buffer, 80, 0, 300000, 1);    // Clear port buffer 

                cout << "Enter the distance in inches: ";
                cin >> param_distance;

                int InchesToSteps=2*25400;
                int DistanceSteps=static_cast<int>(floor(param_distance
                                *static_cast<double>(InchesToSteps)));
                say(portfd, "MR11\r");                    //portfd must be assigned
                say(portfd, "IS\r");
                hear(portfd,buffer,30, 12, 300000, '\r');
                cout << buffer << endl;       
 
                if (DistanceSteps < 0)
                {       sprintf(buffer, "\r\r\rDI%d\r\nFL\r\nSS-move", DistanceSteps);
                        say(portfd,buffer);
                }

                else

                {       sprintf(buffer, "\r\r\rDI%d\rFL\rSS+move", DistanceSteps);
                        say(portfd, buffer);
                }
        }
}

// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: LinearActTest.cpp,v $
*       Revision 1.1  2005/09/18 17:14:30  jayhawk_hokie
*       Initial Addition of Test programs
*
*       Revision 1.1  2005/06/17 18:07:28  jayhawk_hokie
*       Initial submission.
*
*
******************************************************************************/

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