main.cpp

#include "stdafx.h"
#include "sensor.h"
#include "driverControl.h"
#include "driver.h"

int _tmain( int argc, TCHAR *argv[] )
{
	Sensor sensor;
	sensor.initialize();

	DriverControl driverControl;
	Driver driverA(1, TYPE_STD | SET_CH_A);
	Driver driverB(2, TYPE_STD | SET_CH_A);
	Driver driverC(3, TYPE_STD | SET_CH_A);

	if(!driverControl.numModules()){
		std::cout << "No modules found at COM port 1\n";
		return 1;
	}

	if((!driverA.setParameter()) || (!driverB.setParameter()) || (!driverC.setParameter())){
		std::cout << "Communication error.\n";
		LdcnShutdown();
		return 1;
	}

	driverA.enable(STOP_SMOOTH | STP_ENABLE_AMP);
	driverB.enable(STOP_SMOOTH | STP_ENABLE_AMP);
	driverC.enable(STOP_SMOOTH | STP_ENABLE_AMP);

	driverA.loadTraj(LOAD_SPEED | LOAD_ACC, 0, 100, 255, 0);
	driverB.loadTraj(LOAD_SPEED | LOAD_ACC, 0, 100, 255, 0);
	driverC.loadTraj(LOAD_SPEED | LOAD_ACC, 0, 100, 255, 0);

	driverA.setGroup(1);
	driverB.setGroup(0);
	driverC.setGroup(0);

	driverControl.startMotion();

	int num = 0;
	while(num < 200)
		num++;

	driverA.stopMotor(STOP_SMOOTH);
	driverB.stopMotor(STOP_SMOOTH);
	driverC.stopMotor(STOP_SMOOTH);

	/*		ok = ReadFile(hCom, buffer, BUFFSIZE, & bytesRead, NULL);
			for(int j = 0; j < 8; j++)
				buffer_string += buffer[j];
			buffer_value = (float)atof(buffer_string.c_str());
			while(buffer_value < stop + 5)
			{
				std::cout << buffer_value << std::endl;
				buffer_string.clear();
				ok = ReadFile(hCom, buffer, BUFFSIZE, & bytesRead, NULL);
				for(int j = 0; j < 8; j++)
				buffer_string += buffer[j];
				buffer_value = (float)atof(buffer_string.c_str());
			}*/

	return 0;
}