Re: [Libnifalcon-devel] cube test

[Kyle M. (qDot) <ky...@no...>]

Stephen Sinclair wrote:
> Hi,
>
> Okay I finally got around to spending a day playing with libnifalcon.  (hurrah!)
>
> I had some build issues first...
>
> But finally I managed to write an additional "sub program" for
> falcon_test_cli which presents a touchable cube surface.
> This adds a nice basic test for the device motors and position reading
> within a feedback loop.
>
>   
Awesome, thanks for doing this! I'm gonna work on integrating this stuff 
tonight.

> First of all, the build problems.  I've attached several patches to
> this email which resolved them for me, but I can't be sure these are
> the "right" solutions but they worked for me.   Anyways, I'll just
> list them:
>
> 1) I got errors including "gmtl/gtml.h".  I had to add /falcon to the
> include path.
>   
Yeah. I have this fixed in a local branch but I think I forgot to check 
it in. Whoops. :(
> 2) Got some segfaults during initialization with libftdi.  I found a
> couple bugs in the device list iteration.
>
> 3) If I forgot to specify --libftdi the test_cli program crashed on
> me, so I added an error condition for when no communication method is
> specified. I guess this should be done with a proper default instead,
> but it would depend on what was compiled it.  I'm sure it could be
> done.
>   

Yeah, I expect there to be lots of crash bugs around any of the 
examples, none of them have been tested very well. Thanks! :)

> The fifth patch just contains the cube subprogram, which works for me.
>
> Hope this is useful.  I should mention this was all on Ubuntu 8.10.
> My --loop_time_test reports 3 now, which still isn't ideal, but at
> least I can present a stable surface with a stiffness of 5.
>   
So, what's your setup like? What kind of machine? Using a powered hub or 
direct connection?

Kyle