ws21-kelo-500-motion-control

In EthercatCommunication.c change the port name to the active port on your PC in the line

    if (!ecx_init(&ecx_context, "enp2s0"))
    {
    printf("Failed to initialize EtherCAT\n");
    return 0; 
    }

Compilation

To compile the project

For ubuntu users: Use setup_ubuntu from MakeFile.

    setup_ubuntu:
            gcc -I"../install/include/" -L"../install/lib/" setup.c -lsoem -lpthread -lgsl -ldl -lgslcblas -lm -o setup_output

For macOS: Use setup_mac from MakeFile.

    setup_mac:
            gcc -I"../install/include/" -L"../install/lib/" setup.c -lsoem -lpthread -lgsl -lcap -ldl -lgslcblas -lm -o setup_output

Execution

execute run_setup to run in no debug mode

    run_setup:
        sudo ./setup_output no_debug

execute run_debug_setup to run in debug mode

    run_debug_setup:
        sudo ./setup_output debug