diff options
Diffstat (limited to 'src/drivers/roboclaw/roboclaw_main.cpp')
| -rw-r--r-- | src/drivers/roboclaw/roboclaw_main.cpp | 28 |
1 files changed, 19 insertions, 9 deletions
diff --git a/src/drivers/roboclaw/roboclaw_main.cpp b/src/drivers/roboclaw/roboclaw_main.cpp index f37f71aac..44ed03254 100644 --- a/src/drivers/roboclaw/roboclaw_main.cpp +++ b/src/drivers/roboclaw/roboclaw_main.cpp @@ -114,17 +114,25 @@ int roboclaw_main(int argc, char *argv[]) } else if (!strcmp(argv[1], "test")) { - if (argc < 4) { - printf("usage: roboclaw test device address\n"); + const char * deviceName = "/dev/ttyS2"; + uint8_t address = 128; + uint16_t pulsesPerRev = 1200; + + if (argc == 2) { + printf("testing with default settings\n"); + } else if (argc != 4) { + printf("usage: roboclaw test device address pulses_per_rev\n"); exit(-1); + } else { + deviceName = argv[2]; + address = strtoul(argv[3], nullptr, 0); + pulsesPerRev = strtoul(argv[4], nullptr, 0); } - const char *deviceName = argv[2]; - uint8_t address = strtoul(argv[3], nullptr, 0); - - printf("device:\t%s\taddress:\t%d\n", deviceName, address); + printf("device:\t%s\taddress:\t%d\tpulses per rev:\t%ld\n", + deviceName, address, pulsesPerRev); - roboclawTest(deviceName, address); + roboclawTest(deviceName, address, pulsesPerRev); thread_should_exit = true; exit(0); @@ -163,11 +171,13 @@ int roboclaw_thread_main(int argc, char *argv[]) const char *deviceName = argv[1]; uint8_t address = strtoul(argv[2], nullptr, 0); + uint16_t pulsesPerRev = strtoul(argv[3], nullptr, 0); - printf("device:\t%s\taddress:\t%d\n", deviceName, address); + printf("device:\t%s\taddress:\t%d\tpulses per rev:\t%ld\n", + deviceName, address, pulsesPerRev); // start - RoboClaw roboclaw(deviceName, address); + RoboClaw roboclaw(deviceName, address, pulsesPerRev); thread_running = true; |