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add motors emulation

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This commit is contained in:
Edward Emelianov
2026-08-11 16:53:11 +03:00
parent 25d35e2294
commit a996bae853
12 changed files with 165 additions and 39 deletions
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5
BTA_dome_modbus/client.c
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@@ -161,9 +161,10 @@ static sl_sock_hresult_e send_motor_command(SSL *ssl, const char *cmd, value_t *
// emergency stop motors
static void stop_all(SSL *ssl){
int ntries = 0;
value_t speed = {.type = ARG_TYPE_DOUBLE, .d = 0.};
//value_t speed = {.type = ARG_TYPE_DOUBLE, .d = 0.};
while(ntries < 5){
if(RESULT_OK == send_motor_command(ssl, cmd_speed, &speed, NULL)) break;
//if(RESULT_OK == send_motor_command(ssl, cmd_speed, &speed, NULL)) break;
if(RESULT_OK == send_motor_command(ssl, cmd_stop, NULL, NULL)) break;
++ntries;
usleep(100000);
}