6.7.3. Cross-platform C Example

The example C code below works on Windows, Linux, and Mac OS X 10.7 or later. It demonstrates how to get the error status from the controller, how to read a variable, and how to set the target speed.

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 6.7.4.

For this example to work, the Simple Motor Controller’s input mode must be Serial/USB, the serial mode must be Binary, and the CRC Mode must be set to Disabled. These are the default settings that the controller is shipped with. The controller should be connected to the computer via USB.

// Uses POSIX functions to send and receive data from the virtual serial
// port of a Pololu Simple Motor Controller.
// NOTE: The Simple Motor Controller's Input Mode must be set to Serial/USB.
// 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
#else
#include <termios.h>
#endif

#define SERIAL_ERROR -9999

// Reads a variable from the SMC and returns it as number between 0 and 65535.
// Returns SERIAL_ERROR if there was an error.
// The 'variableId' argument must be one of IDs listed in the
// "Controller Variables" section of the user's guide.
// For variables that are actually signed, additional processing is required
// (see smcGetTargetSpeed for an example).
int smcGetVariable(int fd, unsigned char variableId)
{
  unsigned char command[] = {0xA1, variableId};
  if(write(fd, &command, sizeof(command)) == -1)
  {
    perror("error writing");
    return SERIAL_ERROR;
  }

  unsigned char response[2];
  if(read(fd,response,2) != 2)
  {
    perror("error reading");
    return SERIAL_ERROR;
  }

  return response[0] + 256*response[1];
}

// Returns the target speed (-3200 to 3200).
// Returns SERIAL_ERROR if there is an error.
int smcGetTargetSpeed(int fd)
{
  int val = smcGetVariable(fd, 20);
  return val == SERIAL_ERROR ? SERIAL_ERROR : (signed short)val;
}

// Returns a number where each bit represents a different error, and the
// bit is 1 if the error is currently active.
// See the user's guide for definitions of the different error bits.
// Returns SERIAL_ERROR if there is an error.
int smcGetErrorStatus(int fd)
{
  return smcGetVariable(fd,0);
}

// Sends the Exit Safe Start command, which is required to drive the motor.
// Returns 0 if successful, SERIAL_ERROR if there was an error sending.
int smcExitSafeStart(int fd)
{
  const unsigned char command = 0x83;
  if (write(fd, &command, 1) == -1)
  {
    perror("error writing");
    return SERIAL_ERROR;
  }
  return 0;
}

// Sets the SMC's target speed (-3200 to 3200).
// Returns 0 if successful, SERIAL_ERROR if there was an error sending.
int smcSetTargetSpeed(int fd, int speed)
{
  unsigned char command[3];

  if (speed < 0)
  {
    command[0] = 0x86; // Motor Reverse
    speed = -speed;
  }
  else
  {
    command[0] = 0x85; // Motor Forward
  }
  command[1] = speed & 0x1F;
  command[2] = speed >> 5 & 0x7F;

  if (write(fd, command, sizeof(command)) == -1)
  {
    perror("error writing");
    return SERIAL_ERROR;
  }
  return 0;
}

int main()
{
  // Open the Simple Motor Controller's virtual COM port.
  const char * device = "/dev/ttyACM0";  // Linux
  //const char * device = "\\\\.\\COM6";  // Windows
  //const char * device = "/dev/cu.usbmodemfa121"; // Mac OS X
  int fd = open(device, O_RDWR | O_NOCTTY);
  if (fd == -1)
  {
    perror(device);
    return 1;
  }

#ifdef _WIN32
  _setmode(fd, _O_BINARY);
#else
  struct termios options;
  tcgetattr(fd, &options);
  options.c_iflag &= ~(INLCR | IGNCR | ICRNL | IXON | IXOFF);
  options.c_oflag &= ~(ONLCR | OCRNL);
  options.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
  tcsetattr(fd, TCSANOW, &options);
#endif

  smcExitSafeStart(fd);

  printf("Error status: 0x%04x\n", smcGetErrorStatus(fd));

  int speed = smcGetTargetSpeed(fd);
  printf("Current Target Speed is %d.\n", speed);

  int newSpeed = (speed <= 0) ? 3200 : -3200;
  printf("Setting Target Speed to %d.\n", newSpeed);
  smcSetTargetSpeed(fd, newSpeed);

  close(fd);
  return 0;
}