int PowerCube70hw::init(const char device[]) { std::cout<<"Init powercube"<<std::endl; //serial port INit port.init(device); if(port.setBaud(38400)!=PORT_OK) { std::cout<<"Error al inicializar puerto"<<std::endl; return ERROR_PORT; } int r; r=Reset(); if(r!=NOERROR)return r; r=Home(); if(r!=NOERROR)return r; std::cout<<"Homing..."<<std::endl; #ifdef WIN32 Sleep(4); #else sleep(4); #endif std::cout<<"Homed..."<<std::endl; SetSpeed(0.5,0.5); SetAccel(0.5,0.5); ////Calibrado de Posicion a Tilt=0, Pan=0 //Sleep?En el caso de que la posicion diste mucho del homing por PW.Init return NOERROR; }
void ZNetCharacter::SetNetPosition(rvector& position, rvector& velocity, rvector& dir) { SetNetPosition(position); SetVelocity(velocity); SetAccel(rvector(0.0f, 0.0f, 0.0f)); /* float fT = 0.1f; //rvector pretar = position + velocity * fT + (0.5f * accel * fT * fT); rvector pretar = position + velocity * fT; rvector v = (pretar - m_Position) / fT; SetNetPosition(position); SetVelocity(v); SetAccel(rvector(0.0f,0.0f,0.0f)); */ m_TargetDir = dir; m_fLastValidTime = ZGetGame()->GetTime(); }