pciod

pciod is a ach-daemon for talking to schunk power-cube modules on a CAN network. The CAN communication is handled by pcio. The pciod daemon presents the same interface as other motor-type daemons (amciod, sdhiod): we post Somatic__MotorCmd messages and receive Somatic__MotorState messages.

This daemon can be run from the command line, and has some fairly complicated arg-parsing logic to be flexible about CAN network mappings. For this reason, there are start scripts (currently i have schunkstart.sh, and Tobias may be providing others).

For detailed API overview, see the Doxygen