QB Robotics qbmove Advanced Kit User Manual page 77

openRS485(&file_descriptor, serial_ports[0]);
rts
if (file_descriptor.file_handle
std::cout << "ERROR: \tfails while opening the serial resource (sets errno ["
ror(errno) << "])." << std::endl;
return -1;
}
std::cout << "INFO: \tconnected to qb device..."
// Start using qbmove
int device_id = 1;
commActivate(&file_descriptor, device_id, TRUE);
#ifdef _WIN32
Sleep(1000);
#else
usleep(1000000);
#endif
char status;
int result = commGetActivate(&file_descriptor, device_id, &status);
if (result != 0) {
std::cout << "ERROR: \tfails while activating motor"
return -1;
}
short int currents[2];
short int positions[3];
if (commGetMeasurements(&file_descriptor, device_id, positions) < 0) {
std::cout << "ERROR: \tfails while retrieving motor position"
return -1;
}
std::cout << "INFO: \tshaft position is "
if (commGetCurrents(&file_descriptor, device_id, currents) < 0) {
std::cout << "ERROR: \tfails while retrieving motor current"
== INVALID_HANDLE_VALUE) {
// currents of each of two motors
// data from encoder motor 1, motor 2 and shaft respectively
<< positions[2] << std::endl;
// use one of the values from RS485listPo
<< std::endl;
//activate motor
<< std::endl;
<< std::endl;
<< std::endl;
<< strer
74
28 aprile 2021