Example for fakeMotionControl (fakeMotionControl_basic)

Instantiates fakeMotionControl device implemented by FakeMotionControl.

Collaboration diagram for Example for fakeMotionControl (fakeMotionControl_basic):

Instantiates fakeMotionControl device implemented by FakeMotionControl.

# set up a fake motion control device with 8 joints
device fakeMotionControl
name /motor

[GENERAL]
Joints 8

If this text is saved in a file called fakeMotionControl_basic.ini then the device can be created by doing:

yarpdev --file fakeMotionControl_basic.ini

Of course, the configuration could be passed just as command line options, or as a yarp::os::Property object in a program:

Property p;
p.fromConfigFile("fakeMotionControl_basic.ini");
// of course you could construct the Property object on-the-fly
PolyDriver dev;
dev.open(p);
if (dev.isValid()) { /* use the device via view method */ }

Here is a list of properties checked when starting up a device based on this configuration file. Note that which properties are checked can depend on whether other properties are present. In some cases properties can also vary between operating systems. So this is just an example

PROPERTY	DESCRIPTION	DEFAULT
device
GENERAL
GENERAL.Joints	Number of degrees of freedom	1
GENERAL.AxisMap
GENERAL.AxisName
GENERAL.AxisType
GENERAL.ampsToSensor
GENERAL.fullscalePWM
GENERAL.Encoder

See also

FakeMotionControl