char haptic_btn(void)
{
char res = 0;
int i;
if(!haptic_ok)
return -1;
for(i=0;i<BTN_CNT;i++)
res |= (dhdGetButton(i,DHD) != 0) << i;
return res;
}
//===========================================================================
int cDeltaDevice::getUserSwitch(int a_deviceID)
{
const long SWITCHTIMEOUT = 10000; // [us]
// check device id.
if ((a_deviceID < 0) || (a_deviceID > 7))
{
return (0);
}
// check time
if (m_userSwitchClock[a_deviceID].getCurrentTime() < SWITCHTIMEOUT)
{
return (m_userSwitchStatus[a_deviceID]);
}
else
{
// timeout has occured, we read the status again
int switchStatus;
switchStatus = dhdGetButton(0, (char)a_deviceID);
// if value equals to zero, check once more time
if (switchStatus == 1)
{
m_userSwitchStatus[a_deviceID] = 1;
m_userSwitchCount[a_deviceID] = 0;
}
else
{
m_userSwitchCount[a_deviceID]++;
if (m_userSwitchCount[a_deviceID] > 6)
{
m_userSwitchStatus[a_deviceID] = 0;
m_userSwitchCount[a_deviceID] = 0;
}
}
m_userSwitchClock[a_deviceID].initialize();
m_userSwitchClock[a_deviceID].start();
return (m_userSwitchStatus[a_deviceID]);
}
}
char haptic_press(char btn)
{
if(!haptic_ok)
return -1;
return (dhdGetButton(btn,DHD));
}
int
main (int argc,
char **argv)
{
int i;
int done = 0;
int enc[DHD_MAX_ENC];
int encCount;
// message
int major, minor, release, revision;
dhdGetAPIVersion (&major, &minor, &release, &revision);
printf ("Force Dimension - Encoder Reading Example %d.%d.%d.%d\n", major, minor, release, revision);
printf ("(C) 2010 Force Dimension\n");
printf ("All Rights Reserved.\n\n");
// open the first available device
if (dhdOpen () < 0) {
printf ("error: cannot open device (%s)\n", dhdErrorGetLastStr());
return -1;
}
// identify device
printf ("%s device detected\n\n", dhdGetSystemName());
// identify number of encoders to report based on device type
switch (dhdGetSystemType ()) {
case DHD_DEVICE_3DOF:
case DHD_DEVICE_3DOF_USB:
case DHD_DEVICE_OMEGA:
case DHD_DEVICE_OMEGA3:
default:
encCount = 3;
break;
case DHD_DEVICE_6DOF:
case DHD_DEVICE_6DOF_500:
case DHD_DEVICE_6DOF_USB:
case DHD_DEVICE_OMEGA33:
case DHD_DEVICE_OMEGA33_LEFT:
encCount = 6;
break;
case DHD_DEVICE_OMEGA331:
case DHD_DEVICE_OMEGA331_LEFT:
encCount = 7;
break;
case DHD_DEVICE_CONTROLLER:
case DHD_DEVICE_CONTROLLER_HR:
encCount = 8;
break;
}
// display instructions
printf ("press BUTTON or 'q' to quit\n\n");
// configure device
dhdEnableExpertMode();
// loop while the button is not pushed
while (!done) {
// read all available encoders
if (dhdGetEnc (enc) < 0) {
printf ("error: cannot read encoders (%s)\n", dhdErrorGetLastStr ());
done = 1;
}
// print out encoders according to system type
for (i=0; i<encCount; i++) {
printf ("%06d ", enc[i]);
}
printf (" \r");
// limit to kHz and check for exit condition
dhdSleep (0.001);
if (dhdGetButton(0)) done = 1;
if (dhdKbHit()) {
if (dhdKbGet() == 'q') done = 1;
}
}
// close the connection
dhdClose ();
// happily exit
printf ("\ndone.\n");
return 0;
}
