servo / Servo / RobotEQ.pm

#!/usr/bin/perl
package Servo::RobotEQ;
use warnings;
use strict;
use Device::SerialPort;

sub new
{
	my $class = shift;
	my $file = shift;

	my $dev = Device::SerialPort->new($file)
		or return;

	bless {
		dev		=> $dev,
		filename	=> $file,
	}, $class;
}


sub counters
{
	my $dev = shift;
	$dev->{dev}->write("?c\r")
		or return;

	# Wait for the return
	while (1)
	{
		local $_ = $dev->{dev}->input
			or next;
		my ($c1,$c2) = /C=(-?\d+):(-?\d+)/
			or next;
		return ($c1,$c2);
	}
}


sub position
{
	my $dev = shift;
	my $channel = shift;
	my $position = shift;

	$dev->{dev}->write(sprintf("!g $channel $position\r"))
		or return;

	return 1;
}


"0, but true";
__END__
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