4.i.1. Cross-platform C

The example C code below works on Windows, Linux, and Mac OS X 10.7 or later. It demonstrates how to set the target of a jrk by sending a Set Target command to its Command Port, and how to read variables from the jrk. The jrk’s input mode must be set to “Serial” and the serial mode must be “USB Dual Port” for this code to work. You will also need to modify the line that specifies the name of the COM port device.

This code will work in Windows if compiled with MinGW, but it does not work with the Microsoft C compiler. For Windows-specific example code that works with either compiler, see Section 4.i.2.

// Uses POSIX functions to send and receive data from a jrk.
// NOTE: The jrk's input mode must be "Serial".
// NOTE: The jrk's serial mode must be set to "USB Dual Port".
// NOTE: You must change the 'const char * device' line below.

#include <fcntl.h>
#include <stdio.h>
#include <unistd.h>

#ifdef _WIN32
#define O_NOCTTY 0
#include <termios.h>

// Reads a variable from the jrk.
// The 'command' argument must be one of the two-byte variable-reading
// commands documented in the "Variable Reading Commands" section of
// the jrk user's guide.
int jrkGetVariable(int fd, unsigned char command)
  if(write(fd, &command, 1) == -1)
    perror("error writing");
    return -1;
  unsigned char response[2];
  if(read(fd,response,2) != 2)
    perror("error reading");
    return -1;
  return response[0] + 256*response[1];   

// Gets the value of the jrk's Feedback variable (0-4095).
int jrkGetFeedback(int fd)
  return jrkGetVariable(fd, 0xA5);

// Gets the value of the jrk's Target variable (0-4095).
int jrkGetTarget(int fd)
  return jrkGetVariable(fd, 0xA3);

// Sets the jrk's Target variable (0-4095).
int jrkSetTarget(int fd, unsigned short target)
  unsigned char command[] = {0xC0 + (target & 0x1F), (target >> 5) & 0x7F};
  if (write(fd, command, sizeof(command)) == -1)
    perror("error writing");
    return -1;
  return 0;

int main()
  // Open the Jrk's virtual COM port.
  const char * device = "\\\\.\\COM6";  // Windows
  //const char * device = "/dev/ttyACM0";  // Linux
  //const char * device = "/dev/cu.usbmodem00000041"; // Mac OS X
  int fd = open(device, O_RDWR | O_NOCTTY);
  if (fd == -1)
    return 1;

#ifndef _WIN32
  struct termios options;
  tcgetattr(fd, &options);
  options.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
  options.c_oflag &= ~(ONLCR | OCRNL);
  tcsetattr(fd, TCSANOW, &options);
  int feedback = jrkGetFeedback(fd);
  printf("Current Feedback is %d.\n", feedback); 

  int target = jrkGetTarget(fd);
  printf("Current Target is %d.\n", target);

  int newTarget = (target < 2048) ? 3000 : 1000;
  printf("Setting Target to %d.\n", newTarget);
  jrkSetTarget(fd, newTarget);
  return 0;

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