How to apply to your program

Method of apply

1. Installation
2. Include
3. Use
4. Compile
5. Usage of your program

Installation

Reference README.md

Include

Your program need that code onto top:

#include<ics3/ics>

Use

Create ICS3 instance:

ics::ICS3 ics3 {"/dev/ttyUSB0", ics::Baudrate::RATE115200()}
// Create ICS3 instance to complete setting of communication

Get some Instance:

constexpr ics::ID id {1}; // Create servo ID is 1
auto target = ics::Angle::newDegree(40); // Create Angle is 40°

Use instances:

auto now_degree = ics3.move(id, target); // the servo(id:1) move to 40°
                                         // and return "now" position

More information: API Reference

Compile

Caution

You must use c++11 supported compiler.

Hand compile

You should compile with -lics3.

g++ -std=c++11 -lics3 yourcode.cpp

Cmake based compile

You should specify ics3 on TARGET_LINK_LIBRARYS for compiler to find libics3.

Usage of your program

Mount serial device

First, Linux need serial communication device mounted. you should mount your serial communication driver.

script/setup.sh will mount device of serial UBS adapter series. It is interactive shell script. You can mount a your device.

example

$ sh script/setup.sh
Please select your device
1. ICS USB ADAPTER
2. SERIAL USB ADAPTER
3~5: nothing
6. ICS USB ADAPTER HS
7. SERIAL USB ADAPTER HS
8. DUAl USB ADAPTER HS
> 

If you have DUAL USB ADAPTER HS and you want use it...

> 8<Enter>

setup.sh mount your device.

Run the your program

you can run the your program!