On Thu, Dec 18, 2008 at 03:35:50PM +0100, Florian Pose wrote: > Hi Uwe, > > On Thu, Dec 18, 2008 at 03:01:27PM +0100, Uwe Hermann wrote: > > On Tue, Dec 16, 2008 at 01:22:29PM +0900, Hobin Yoon wrote: > > > It is quite interesting. Could you give us some more details on how you > > > invoked 'ethercat'? Because 'ethercat' doesn't seem to provide PDO mapping > > > and data writing to domain. > > > > Yeah, we're hardcoding certain "commands" to the four slaves, e.g. like > > this: > > sudo $E download -p 2 --type int16 0x6042 0 0 > > sudo $E download -p 3 --type int16 0x6042 0 0 > > ... > > this is really crazy! ;-)
Thanks :) > You know that you can do this much easier and without delay through the > application interface? Sure, this is just a quick hack. I'm now working on a small C code for controlling the robot (basically a stripped-down 'ethercat' tool). The longer-term goal is to hook something like that up to a higher-level robotics system such as Player or YARP: http://playerstage.sourceforge.net/ http://eris.liralab.it/yarp/ I guess for that we basically merely need to call a few functions from the library in lib/. Is that what you meant with "application interface" or do you suggest to use an extra kernel module (which I'd like to avoid if possible, staying in userspace is a lot simpler in many respects). Cheers, Uwe. -- http://www.hermann-uwe.de | http://www.holsham-traders.de http://www.crazy-hacks.org | http://www.unmaintained-free-software.org _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users
