include/barrett/standard_main_function.h File Reference

#include <barrett/exception.h>
#include <barrett/products/product_manager.h>
#include <barrett/systems/wam.h>

Go to the source code of this file.

Defines
#define	BARRETT_SMF_WAIT_FOR_SHIFT_ACTIVATE   true
#define	BARRETT_SMF_PROMPT_ON_ZEROING   true
#define	BARRETT_SMF_WAM_CONFIG_PATH   NULL
Functions
template<size_t DOF>
int	wam_main (int argc, char **argv,::barrett::ProductManager &pm,::barrett::systems::Wam< DOF > &wam)
int	main (int argc, char **argv)

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Detailed Description

Defines a boilerplate main() function that initializes a WAM.

This "standard" main() function simply initializes the WAM in the normal way, by:

• Waiting for the WAM to be Shift-idled, if it's not already idled
• Waking all Pucks found on the bus
• Zero the WAM, if it's not already zeroed
• Waiting for the WAM to be Shift-activated
• Calling the wam_main() function that the user is responsible for defining

The behavior is appropriate for many applications, but there is no issue with writing a custom main() function.

The wam_main() function must be able to accept a reference to both a 3-DOF, 4-DOF and a 7-DOF barrett::systems::Wam. If your code treats these two cases similarly, then define a templated function:

If your code handles these two cases very differently, then define two overloaded functions:

Date:

Nov 5, 2010

Author:

Dan Cody

CJ Valle

JP Hagstrand