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pololu-tic-software's Introduction

Tic Stepper Motor Controller software

Version: 1.8.2
Release date: 2020-11-16
www.pololu.com

This repository contains the source code of the configuration and control software for the Tic Stepper Motor Controller. There are two programs: the Pololu Tic Command-line Utility (ticcmd) and the Pololu Tic Control Center (ticgui).

Installation

Installers for this software are available for download from the Tic Stepper Motor Controller User's Guide.

See BUILDING.md for information about how to compile the software from source.

Version history

  • 1.8.2 (2020-11-16):
    • Started using a newer version of libusbp so that the Windows version of this software might work with Tic devices that are connected through certain special USB hubs (no actual code changes in this repository).
  • 1.8.1 (2020-06-03):
    • Fixed a bug introduced in version 1.8.0 that prevented the tic_get_settings and tic_set_settings functions from properly loading or storing the AGC settings for the Tic T249.
  • 1.8.0 (2019-09-16):
    • Added support for the Tic 36v4.
  • 1.7.0 (2019-01-31):
    • Added support for the Tic T249 and Tic N825.
    • Added support for the new features in firmware version 1.06: limit switches, the "Go home" command, automatic homing, 14-bit serial device numbers, alternative serial device numbers, CRC for serial responses, and 7-bit serial responses.
    • Added the --position-relative option to ticcmd.
  • 1.6.2 (2018-03-14):
    • Call SetProcessDPIAware() to fix issues on Windows caused by dragging the application between monitors with different DPIs.
  • 1.6.1 (2018-03-13):
    • Fix a bug in the controls for setting current limits that could be triggered by pressing Enter.
  • 1.6.0 (2018-03-13):
    • Added support for the Tic T500.
    • Improved the controls for setting the current limits: the up and down arrows only step to current limits that are exactly achievable.
  • 1.5.0 (2017-11-22):
    • Added support for building installers for macOS.
    • Fixed some bugs affecting the software on macOS (caused by strtoll).
    • Made Qt's Fusion style be the default style on non-Windows systems.
    • Fixed some styling issues.
    • Fixed the firmware upgrade code to work with the Tic T834.
  • 1.4.0 (2017-11-02):
    • Added support for the Tic T834.
    • ticgui: To avoid unexpected motion when connecting to a Tic with safe start is disabled, only start sending the "Reset command timeout" to the Tic after the user clicks the Resume button or specifies a target position or velocity.
    • ticgui: Added a menu item for sending the "Clear driver error" command.
    • Show all the digits of the VIN voltage reading in ticcmd --status --full.
    • libpololu-tic: Added tic_look_up_product_name_short(), tic_look_up_product_name_ui(), tic_look_up_decay_mode_name(), tic_look_up_decay_mode_code(), tic_get_max_allowed_current(), tic::device.get_product().
    • Fixed a bug that prevented reading or writing encoder prescaler values greater than 255.
    • Other minor bug fixes.
  • 1.3.0 (2017-09-11):
    • Added support for building installers for Linux.
    • ticgui: Added the compact layout. Can be enabled with TICGUI_COMPACT=Y.
    • ticgui: Center the window at startup. Can be disabled with TICGUI_CENTER=N.
  • 1.2.0 (2017-08-28):
    • ticgui: Added support for the "Serial response delay" setting.
    • ticgui: Fixed how error messages at program startup are handled. They are now shown after the window is displayed, which fixes a bug that caused the windows to start in the upper left corner with its title bar off the screen.
    • ticgui: Improved the pin configuration interface by hiding or disabling checkboxes appropriately, and labeling pins that are permanently pulled up or down.
    • ticgui: Fixed the lower bound for "Encoder prescaler" and "Encoder postscaler" inputs.
    • ticcmd: Added --pause and --pause-on-error.
    • libpololu-tic: Added tic_device_get_product().
    • Renamed the "Kill switch" error bit to "Kill switch active" everywhere.
    • CMake: install libpololu-tic, its headers, and a .pc file to the system.
    • Nix: Added support for 32-bit Linux and Raspberry Pi.
    • Fixed some compilation issues for macOS and GCC 4.9.
  • 1.1.0 (2017-08-02):
    • ticgui: Added support for firmware upgrades.
    • ticgui: Improved some of the text.
    • ticcmd: Allowed '#' at the beginning of the serial number argument.
    • libpololu-tic: Added tic_start_bootloader().
    • libpololu-tic and ticcmd: Added support for the "Serial response delay" setting.
  • 1.0.0 (2017-07-18): Original release.

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pololu-tic-software's Issues

API documentation

Hello.

Sorry for posting so many issues but i am very excited about your tic controllers and hope to make them my new goto stepper driver.
Do you have a list of all available commands i can set via my custom c++ app?
I am able to include the code of this example in to my c++ code but am not sure what commands would set acceleration, de-energize, resume, max speed, etc (all the controls i see in the gui app)

thanks a bunch.

current position resets to 0

How do I resume the tic at the last position after the tic was powered off? I am using tic to drive a stepper motor which does not work if the position is negative. Given that tic reset to 0, I don't have any workaround to this.

Possible to compile 64-bit version on Windows to be able to use in Python?

I was looking into the possibility of using Python ctypes to interface with libpololu-tic in order to control stepper motors from a Python interface. The issue I ran into is that following the build-from-source instructions, the libpololu-tic dll is compiled as a 32-bit program (if I understand properly).

I get a OSError: [WinError 193] %1 is not a valid Win32 application from Python 64-bit when trying to load the dll. Testing with Python 32-bit instead, I was able to get ctypes to communicate with libpololu-tic and verified that the serial number was read properly. Ideally, I'd like to be able to run it from Python 64-bit.

Is there a simple way to be able to compile libpololu-tic as a 64-bit program?

I'm not very familiar with building c-libraries from source. I briefly attempted running the make commands from mingw64 instead of mingw32, but it didn't recognize 'cmake' (I only installed the packages in the BUILDING.md instructions into msys2). Even if I figure out how to install cmake into mingw64, would libpololu-tic compile properly? (I suppose I'd have to recompile libusbp as well)

Maybe this is already a work-in-progress, looking at section 12 in the pololu docs ("We plan to expand this section of the user’s guide to contain tutorials and example code for many different programming languages.")

libusbp::error: Could not find interface 2

I am following the steps in 12.11. Example code using the C++ API and try to run the example code.
I am on macOS 12.6.6 with a M1 chip.

first I had to export PKG_CONFIG_PATH=/Users/stephanschulz/tic/build/lib:$PKG_CONFIG_PATH (which now points to where the libpololu-tic-1.pc file is located) in order for the command g++ code.cpp $(pkg-config libpololu-tic-1 --cflags --libs) to execute correctly.

The I tried to run code.cpp which throws the same error as when I tried to add the library to my custom c++ app as mentioned here: https://github.com/pololu/libusbp/blob/master/README.md#incorporating-libusbp-into-a-cc-project

Something about libusbp::error: Could not find interface 2.

stephanschulz@Stephans-Komputer desktop % g++ code.cpp $(pkg-config libpololu-tic-1 --cflags --libs)
code.cpp:2:1: error: expected unqualified-id
2
^
In file included from code.cpp:63:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/iostream:37:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/ios:214:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__locale:15:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string:519:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__debug:14:
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/iosfwd:113:31: error: unknown type name 'char16_t'; did you mean 'char32_t'?
template<> struct char_traits<char16_t>;
                              ^
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__config:501:20: note: 'char32_t' declared here
typedef __char32_t char32_t;
                   ^
In file included from code.cpp:63:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/iostream:37:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/ios:214:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__locale:15:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string:519:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__debug:21:
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/cstddef:68:50: error: unknown type name 'char16_t'; did you mean 'char32_t'?
template <>          struct __libcpp_is_integral<char16_t>           { enum { value = 1 }; };
                                                 ^
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__config:501:20: note: 'char32_t' declared here
typedef __char32_t char32_t;
                   ^
In file included from code.cpp:63:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/iostream:37:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/ios:214:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__locale:15:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string:519:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__debug:21:
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/cstddef:69:29: error: redefinition of '__libcpp_is_integral<char32_t>'
template <>          struct __libcpp_is_integral<char32_t>           { enum { value = 1 }; };
                            ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/cstddef:68:29: note: previous definition is here
template <>          struct __libcpp_is_integral<char16_t>           { enum { value = 1 }; };
                            ^
In file included from code.cpp:63:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/iostream:37:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/ios:214:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__locale:15:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string:522:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/algorithm:653:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/functional:500:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__functional/function.h:20:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__memory/shared_ptr.h:25:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__memory/unique_ptr.h:15:
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__functional/hash.h:535:34: error: unknown type name 'char16_t'; did you mean 'char32_t'?
struct _LIBCPP_TEMPLATE_VIS hash<char16_t>
                                 ^
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__config:501:20: note: 'char32_t' declared here
typedef __char32_t char32_t;
                   ^
In file included from code.cpp:63:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/iostream:37:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/ios:214:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__locale:15:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string:522:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/algorithm:653:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/functional:500:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__functional/function.h:20:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__memory/shared_ptr.h:25:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__memory/unique_ptr.h:15:
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__functional/hash.h:537:29: error: unknown type name 'char16_t'; did you mean 'char32_t'?
    : public unary_function<char16_t, size_t>
                            ^
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__config:501:20: note: 'char32_t' declared here
typedef __char32_t char32_t;
                   ^
In file included from code.cpp:63:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/iostream:37:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/ios:214:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__locale:15:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string:522:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/algorithm:653:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/functional:500:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__functional/function.h:20:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__memory/shared_ptr.h:25:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__memory/unique_ptr.h:15:
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__functional/hash.h:543:41: error: unknown type name 'char16_t'; did you mean 'char32_t'?
    _LIBCPP_DEPRECATED_IN_CXX17 typedef char16_t argument_type;
                                        ^
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__config:501:20: note: 'char32_t' declared here
typedef __char32_t char32_t;
                   ^
In file included from code.cpp:63:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/iostream:37:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/ios:214:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__locale:15:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string:522:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/algorithm:653:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/functional:500:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__functional/function.h:20:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__memory/shared_ptr.h:25:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__memory/unique_ptr.h:15:
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__functional/hash.h:546:23: error: unknown type name 'char16_t'; did you mean 'char32_t'?
    size_t operator()(char16_t __v) const _NOEXCEPT {return static_cast<size_t>(__v);}
                      ^
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__config:501:20: note: 'char32_t' declared here
typedef __char32_t char32_t;
                   ^
In file included from code.cpp:63:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/iostream:37:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/ios:214:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__locale:15:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string:522:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/algorithm:653:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/functional:500:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__functional/function.h:20:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__memory/shared_ptr.h:25:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__memory/unique_ptr.h:15:
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__functional/hash.h:551:29: error: redefinition of 'hash<char32_t>'
struct _LIBCPP_TEMPLATE_VIS hash<char32_t>
                            ^~~~~~~~~~~~~~
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__functional/hash.h:535:29: note: previous definition is here
struct _LIBCPP_TEMPLATE_VIS hash<char16_t>
                            ^
In file included from code.cpp:63:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/iostream:37:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/ios:214:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__locale:15:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string:522:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/algorithm:653:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/functional:500:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__functional/function.h:20:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__memory/shared_ptr.h:35:
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/atomic:2783:16: error: unknown type name 'char16_t'; did you mean 'char32_t'?
typedef atomic<char16_t>           atomic_char16_t;
               ^
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__config:501:20: note: 'char32_t' declared here
typedef __char32_t char32_t;
                   ^
In file included from code.cpp:63:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/iostream:37:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/ios:214:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__locale:15:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string:532:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string_view:192:
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__string:666:41: error: unknown type name 'char16_t'; did you mean 'char32_t'?
struct _LIBCPP_TEMPLATE_VIS char_traits<char16_t>
                                        ^
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__config:501:20: note: 'char32_t' declared here
typedef __char32_t char32_t;
                   ^
In file included from code.cpp:63:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/iostream:37:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/ios:214:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__locale:15:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string:532:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string_view:192:
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__string:668:13: error: unknown type name 'char16_t'; did you mean 'char32_t'?
    typedef char16_t       char_type;
            ^
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__config:501:20: note: 'char32_t' declared here
typedef __char32_t char32_t;
                   ^
In file included from code.cpp:63:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/iostream:37:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/ios:214:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__locale:15:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string:532:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string_view:192:
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__string:708:13: error: unknown type name 'char16_t'; did you mean 'char32_t'?
char_traits<char16_t>::compare(const char_type* __s1, const char_type* __s2, size_t __n) _NOEXCEPT
            ^
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__config:501:20: note: 'char32_t' declared here
typedef __char32_t char32_t;
                   ^
In file included from code.cpp:63:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/iostream:37:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/ios:214:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__locale:15:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string:532:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string_view:192:
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__string:722:13: error: unknown type name 'char16_t'; did you mean 'char32_t'?
char_traits<char16_t>::length(const char_type* __s) _NOEXCEPT
            ^
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__config:501:20: note: 'char32_t' declared here
typedef __char32_t char32_t;
                   ^
In file included from code.cpp:63:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/iostream:37:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/ios:214:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__locale:15:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string:532:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string_view:192:
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__string:731:7: error: unknown type name 'char16_t'; did you mean 'char32_t'?
const char16_t*
      ^
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__config:501:20: note: 'char32_t' declared here
typedef __char32_t char32_t;
                   ^
In file included from code.cpp:63:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/iostream:37:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/ios:214:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__locale:15:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string:532:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string_view:192:
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__string:732:13: error: unknown type name 'char16_t'; did you mean 'char32_t'?
char_traits<char16_t>::find(const char_type* __s, size_t __n, const char_type& __a) _NOEXCEPT
            ^
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__config:501:20: note: 'char32_t' declared here
typedef __char32_t char32_t;
                   ^
In file included from code.cpp:63:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/iostream:37:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/ios:214:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__locale:15:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string:532:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string_view:192:
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__string:744:1: error: unknown type name 'char16_t'; did you mean 'char32_t'?
char16_t*
^
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__config:501:20: note: 'char32_t' declared here
typedef __char32_t char32_t;
                   ^
In file included from code.cpp:63:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/iostream:37:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/ios:214:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__locale:15:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string:532:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string_view:192:
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__string:745:13: error: unknown type name 'char16_t'; did you mean 'char32_t'?
char_traits<char16_t>::move(char_type* __s1, const char_type* __s2, size_t __n) _NOEXCEPT
            ^
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__config:501:20: note: 'char32_t' declared here
typedef __char32_t char32_t;
                   ^
In file included from code.cpp:63:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/iostream:37:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/ios:214:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__locale:15:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string:532:
In file included from /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/string_view:192:
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__string:765:1: error: unknown type name 'char16_t'; did you mean 'char32_t'?
char16_t*
^
/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/c++/v1/__config:501:20: note: 'char32_t' declared here
typedef __char32_t char32_t;
                   ^
fatal error: too many errors emitted, stopping now [-ferror-limit=]
20 errors generated.

has this been tested on a macOS M1 ?

I am following the sets here https://github.com/pololu/pololu-tic-software/blob/master/BUILDING.md to build on a Mac book pro with M1 chipset. On an M1 brew installs most things in /opt/homebrew/Cellar/ but I think the Pololu make script is looking for things in usr/local

Is there a work around I can do?

I get this error message after running all the commands listed:

stephanschulz@Stephans-Komputer ~ % pkg-config libusbp-1 --cflags
Package libusbp-1 was not found in the pkg-config search path.
Perhaps you should add the directory containing `libusbp-1.pc'
to the PKG_CONFIG_PATH environment variable
No package 'libusbp-1' found

ibusbp-1 or ibusbp can not be found

stephanschulz@Stephans-Komputer ~ % brew list libusbp-1
Error: No available formula with the name "libusbp-1". Did you mean libusb?

brew install pkg-config cmake qt5 prints out

==> Downloading https://formulae.brew.sh/api/formula.jws.json
######################################################################### 100.0%
==> Downloading https://formulae.brew.sh/api/cask.jws.json
######################################################################### 100.0%
Warning: Treating cmake as a formula. For the cask, use homebrew/cask/cmake
Warning: pkg-config 0.29.2_3 is already installed and up-to-date.
To reinstall 0.29.2_3, run:
  brew reinstall pkg-config
Warning: cmake 3.26.4 is already installed and up-to-date.
To reinstall 3.26.4, run:
  brew reinstall cmake
Warning: qt@5 5.15.8_3 is already installed and up-to-date.
To reinstall 5.15.8_3, run:
  brew reinstall qt@5
stephanschulz@Stephans-Komputer ~ % brew list qt@5
/opt/homebrew/Cellar/qt@5/5.15.8_3/bin/balsam
/opt/homebrew/Cellar/qt@5/5.15.8_3/bin/canbusutil
/opt/homebrew/Cellar/qt@5/5.15.8_3/bin/fixqt4headers.pl
/opt/homebrew/Cellar/qt@5/5.15.8_3/bin/lconvert
AND MANY MORE

Thanks

Applicable license?

In the source distribution, there are four license files. Two are related to integrated code (yaml and xml2) with MIT-like licenses. Then there is a permissive license and a GPLv3.
What of the code is licensed with GPLv3 or can one just select whether the permissive or the GPLv3 is applied?
Thanks!

Configure Limit Switches Via I2C

I would be handy to configure device inputs, more specifically the limit switches via I2C so that you do not need to use Windows application to change settings. That way you could pretty much update settings on the device from changing your Arduino sketch.

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