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README.md

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  • Install libmodbus
$ git clone https://github.com/stephane/libmodbus.git
$ cd libmodbus
$ sudo apt-get install autoconf
$ ./autogen.sh
$ ./configure
$ make
$ sudo make install
  • Run linear motor
$ roscore
[New terminal]

$ sudo chmod 777 /dev/ttyUSB0
$ sudo chmod 777 /dev/ttyUSB1
$ rosrun linear_motion linear_z
[if the LED in driver is red, stop terminal and reset the power of driver]
[New terminal]

$ sudo chmod 777 /dev/ttyUSB0
$ sudo chmod 777 /dev/ttyUSB1
$ rosrun linear_motion LM_Control.py <driver id> <$1>
[$1 is a char from a~l, each char represents a pulse]
[The status of linear motor will display in terminal]

[control LM by teminal]

$ rosrun strategy LM_Control.py 1 <desire pls(0~80000)> #LM right
$ rosrun strategy LM_Control.py 2 <desire pls(0~60000)> #LM base
$ rosrun strategy LM_Control.py 3 <desire pls(0~80000)> #LM left