Motor control in Yarp, a brief tutorial
Motor control in Yarp is done through a device driver. For more documentation please see: Yarp on SF and the related classes. The project on the iCub repository under src/simple_headcontrol is a good example to start playing with motor control. This example uses a remoted device driver which exports exactly the same interfaces of the actual device driver. Clearly, the main difference between the two is in terms of efficiency, if you're developing a low-level control loop you might want to be local, on the other hand a simple sporadic position control can be effected through the remote device driver.
In practice, we start by loading a set of configuration parameters from a file:
const char *conf = ACE_OS::getenv("ICUB_ROOT");
Property options; options.fromCommand(argc, argv);