I’ve been trying for the past day or so to get some C/C++ code to control the maestro board, without any success. I’m looking for a simple program to direct the servo back and forth so I can hack it into a current project.
I’ve managed to get this code from the forums, and it works when the MCC is running but doesn’t when it’s not. So whats being initialized and how can I do it from just the code snippet.
Setup:
Ubuntu 11.10 (in VMware)
libusb-1.0
maestro 6 channel servo controller
#include <iostream>
#include <libusb.h>
#include "protocol.h"
using namespace std;
bool deviceMatchesVendorProduct(libusb_device *device, unsigned short idVendor, unsigned short idProduct)
{
libusb_device_descriptor desc;
libusb_get_device_descriptor(device, &desc);
return idVendor == desc.idVendor && idProduct == desc.idProduct;
}
void setTarget(int position, int servo)
{
const unsigned short vendorId = 0x1ffb;
unsigned short productIDArray[]={0x0089, 0x008a, 0x008b, 0x008c};
libusb_context *ctx=0;
libusb_device **device_list=0;
libusb_init(&ctx);
int count=libusb_get_device_list(ctx, &device_list);
for(int i=0;i<count;i++)
{
libusb_device *device=device_list[i];
{
for(int Id=0;Id<4;Id++)
{
if(deviceMatchesVendorProduct(device, vendorId, productIDArray[Id]))
{
libusb_device_handle *device_handle;
libusb_open(device, &device_handle);
libusb_control_transfer(device_handle, 0x40, REQUEST_SET_TARGET, position*4, servo, 0, 0, (ushort)5000);
libusb_close(device_handle);
break;
}
}
}
}
libusb_free_device_list(device_list, 0);
libusb_exit(ctx);
}
int main()
{
while(1)
{
int position;
int servo=0;
cout << "Enter position: ";
cin >> position;
setTarget(position, servo);
}
return 0;
}