testJoints.cpp File Reference

Tests for the Joint, ActuatedJoint, ExoJoint and Drive classes. More...

#include <iostream>
#include "ActuatedJoint.h"
#include "CANopen.h"
#include "CopleyDrive.h"
#include "Drive.h"
#include "DummyActJoint.h"
#include "Joint.h"

Include dependency graph for testJoints.cpp:

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Functions
void	CO_errExit (char *msg)
void	CO_error (const uint32_t info)
int	main ()

Variables
pthread_mutex_t	CO_CAN_VALID_mtx = PTHREAD_MUTEX_INITIALIZER
volatile uint32_t	CO_timer1ms = 0U

Detailed Description

Tests for the Joint, ActuatedJoint, ExoJoint and Drive classes.

Author

Justin Fong

Version

0.1

Date

2020-04-09

Copyright

Copyright (c) 2020

Definition in file testJoints.cpp.

Function Documentation

void CO_errExit

(

char *

msg

)

Definition at line 25 of file testJoints.cpp.

void CO_error

(

const uint32_t

info

)

Definition at line 31 of file testJoints.cpp.

int main

(

void

)

Definition at line 36 of file testJoints.cpp.

Variable Documentation

pthread_mutex_t CO_CAN_VALID_mtx = PTHREAD_MUTEX_INITIALIZER

Mutex is locked, when CAN is not valid (configuration state). May be used from other threads. RT threads may use CO->CANmodule[0]->CANnormal instead.

Definition at line 21 of file testJoints.cpp.

volatile uint32_t CO_timer1ms = 0U

Global variable increments each millisecond

Definition at line 22 of file testJoints.cpp.