this file contains basic track-control code based on ethercat(therNet Control Automation Technology)， which is the open real-time Ethernet network originally developed by Beckhoff.
To use it, i choose Soem [(simple open EtherCAT Master) an open source EtherCAT master station provided by RT lab] to run in my motor dirver. Some configuations are necessary, https://github.com/shadow-robot/ethercat_grant provides the usage and installation.
Usage:
1.Download the code and compile.
2.Install the configuations in https://github.com/shadow-robot/ethercat_grant.
3.Connect the network cable and run SoemTest node.
06.06 push the newiest code including control method(change test1.cpp)