基于arm-linux的伺服电机驱动开发.zip

# motor-servo # ## module ## - alpha parameter configure * alpha_setting.h * alpha_setting.c - alpha motion control * alpha_motion_control.h * alpha_motion_control.c * alpha_motion_test.c - encoder listening * am335x_setting.h * am335x_setting.c - console listening * cmdparser.h * cmdparser.c ## API ## | API | note | |-----------------------|--------------------| | open_dev() | 读取参数，确认配置 | | close_dev() | | | set_acce_time() | (0.1ms) | | set_dece_time() | (0.1ms) | | set_speed() | (degree/s) | | set_max_left_point() | (degree) | | set_max_right_point() | (degree) | | run_to_angle() | (degree) | | run_to_direction() | left/right | | cancel_task() | | | stop_run() | | | check() | 开机检验 | | get_status() | [角度][状态] | note: 1. 电机 - positions/circle 40000 2. 编码器 - positions/circle 65535 3. 转速比 - motor/encoder 252.5 4. 角度: %.3f(三位小数) 5. 状态: INP(or MAXL or MAXR) EOPE(operation error) LIMI(over limit) 6. 角度帧头: $ 帧尾 '\r' 7. 状态帧头: # 帧尾 '\r' ## C99 Error ## The timespec comes from POSIX, so you have to 'enable' POSIX definitions: #if __STDC_VERSION__ >= 199901L #define _XOPEN_SOURCE 600 #else #define _XOPEN_SOURCE 500 #endif /* __STDC_VERSION__ */ #include <time.h> int main() { struct timespec asdf; return 0; } For the warning: implicit declaration of function 'usleep': gcc -std=gnu99 ## motor-client ## the client for control the server ## References ## <https://github.com/stephane/libmodbus> <https://github.com/armink/EasyLogger> <https://github.com/ndevilla/iniparser>