pwm.cpp

/*
  PWM 出力毎の encoder 回転速度を表示するプログラム
  Satofumi KAMIMURA
  $Id$
*/

#include "runCtrl.h"
#include <stdio.h>
#include <stdlib.h>


int main(int argc, char *argv[]) {
  try {
    RunCtrl run;
    if (run.connect(argc, argv) < 0) {
      printf("RunCtrl::connect: %s\n", run.what());
      exit(1);
    }

    enum { MotorID = 0 };
    run.setMotorMode(MotorID, CW);
    for (int i = 0; i <= 255; ++i) {
      run.setMotorPwm(MotorID, i);
      VXV::Delay(50);
      int enc_vel = 0;
      run.getEncoderVel(MotorID, &enc_vel);
      printf("%d\t%d\n", i, enc_vel);
    }
    run.setMotorPwm(MotorID, 0);

  } catch (std::exception& e) {
    printf("exception:: %s\n", e.what());
  }

  return 0;
}