[ts-7000] Connecting TS to my Robot

["ashraf_abussaud" <>]

Hi All,

I want to connect the TS-7200 to my TJ-Pro Robot through the COM2
port. i do the following
1. I disabled the getty ob COM2
2.i gave the follwoing preivladge "chmod a+rw /dev/ttyAM1"
3.I used the following C Code(note this code is okay on my FEDORA
Linux Desktop"
--------------------------------------

#include <sys/types.h>
#include <sys/stat.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h> /* String function definitions */
#include <unistd.h> /* UNIX standard function definitions */
#include <fcntl.h> /* File control definitions */
#include <errno.h> /* Error number definitions */
#include <termios.h> /* POSIX terminal control definitions */

 



int main()
  {
      
          int fd,res;
          struct termios options;
          char buf[255];
          
          fd = open("/dev/ttyAM1", O_RDWR | O_NOCTTY | O_NDELAY);
          if (fd == -1)
                        { 
                                fprintf(stderr, "open_port: Unable to open 
/dev/ttyAM1 - %s\n",
                                strerror(errno));
                        }


         bzero(&options, sizeof(options)); /* clear struct for new port
settings */

         options.c_cflag = B9600 | ~CRTSCTS | CS8 | CLOCAL | CREAD;
         
        /*
          IGNPAR  : ignore bytes with parity errors
          ICRNL   : map CR to NL (otherwise a CR input on the other
computer
                    will not terminate input)
          otherwise make device raw (no other input processing)
        */
     options.c_iflag = IGNPAR | ICRNL;
         
        /*
         Raw output.
        */
     options.c_oflag = 0;
         
        /*
          ICANON  : enable canonical input
          disable all echo functionality, and don't send signals to
calling program
        */
     options.c_lflag = ICANON;
         
          
        printf("The File Discriptor is %d \n",fd);

        tcflush(fd, TCIFLUSH);
    tcsetattr(fd,TCSANOW,&options);


         
        while (1)
        {
       res = read(fd,buf,255); 
       buf[res]=0;             /* set end of string, so we can printf */
           if(res==-1)
                   continue;
       printf(":%s:%d\n", buf, res);

       if (buf[0]=='z')
                 break;

        buf[0]='L';

        buf[1]='i';

        buf[2]='n';

        buf[3]='U';

        buf[4]='x';

        buf[5]=0;

        write(fd,buf,4);
        }


         close(fd);

         printf("The File Discriptor is %d \n",fd);

     return 0;
  }

--------------------------------------

the problem is on the write part. because when i connect the KIT to a
PC running hyper terminal the kit can read the 

chracters stroked on the PC but it can not write anything to the hyper
terminal.
Note= if i connect my Fedora 3 desktop to the other PC and i ran the
same code(replace ttyAM1 by ttyS1 every thing is okay 

even the wirite part!!!!!!!!!

Please any one has any idea.





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