motor.cpp

#include "motor.hpp"
#include <stdio.h>

#include <unistd.h>
#include <fcntl.h>
#include <string.h>
#include <stdlib.h>






MotorManager::MotorManager(const char* filename,speed_t rate){
   fd=serialOpen("/dev/ttyS0",115200);
	if(fd<0){
		printf("can not open serialport\n");
		exit(1);
	}else{
	    printf("success open serialport\n");
	}
}

MotorManager::~MotorManager(){
    if (fd>=0){
        //swap config
        serialClose(fd);
        printf("serial port closed");
    }
}

std::unique_ptr<Motor> MotorManager::GenerateMotor(address_t addr){
return nullptr;//TODO STUB
}

void MotorManager::Write(const char*send){
	serialPrintf(fd,*send);
}

void dtm(int id,float dt){
	std::string word("sel	%d\r",id);
	void MotorManager::Write(&word);
	std::string word("dt	%4.2f\r",dt);
	void MotorManager::Write(&word);
	delay(1);
}


void mcm(int id,int mc){
	std::string word("sel	%d\r",id);
	void MotorManager::Write(&word);
	std::string word("dt	%4.2f\r",mc);
	void MotorManager::Write(&word);
	if(id==tirelb){
		std::string word("go\r");
		void MotorManager::Write(&word);
	}
}