C++ (Cpp) Clutch Examples

Example #1

File: Car.cpp Project: AntonioModer/xray-16

void CCar::DriveForward()
{
	Clutch();
	if(0==CurrentTransmission()) Transmission(1);
	if(1==CurrentTransmission()||0==CurrentTransmission())Starter();
	Drive();
}

Example #2

File: Car.cpp Project: AntonioModer/xray-16

void CCar::DriveBack()
{
	Clutch();
	Transmission(0);
	if(1==CurrentTransmission()||0==CurrentTransmission())Starter();
	Drive();
}

Example #3

File: Car.cpp Project: AntonioModer/xray-16

void CCar::ReleaseForward()
{
	if(bkp)
	{
		Clutch();
		Transmission(0);
		if(1==CurrentTransmission()||0==CurrentTransmission())Starter();
		Drive();
	}
	else
	{
		Unclutch();
		NeutralDrive();
	}

	fwp=false;
}

Example #4

File: mtsTeleOperationECM.cpp Project: jhu-dvrk/sawIntuitiveResearchKit

void mtsTeleOperationECM::ClutchEventHandler(const prmEventButton & button)
{
    switch (button.Type()) {
    case prmEventButton::PRESSED:
        mIsClutched = true;
        break;
    case prmEventButton::RELEASED:
        mIsClutched = false;
        break;
    default:
        break;
    }

    // if the teleoperation is activated
    if (mTeleopState.DesiredState() == "ENABLED") {
        Clutch(mIsClutched);
    }
}

Example #5

File: Car.cpp Project: AntonioModer/xray-16

void CCar::ReleaseBack()
{
	if(b_breaks)
	{
		StopBreaking();
	}
	if(fwp)
	{
		Clutch();
		if(0==CurrentTransmission()) Transmission(1);
		if(1==CurrentTransmission()||0==CurrentTransmission()) Starter();
		Drive();
	}
	else
	{
		Unclutch();
		NeutralDrive();
	}
	bkp=false;
}

Example #6

File: mtsTeleOperationECM.cpp Project: jhu-dvrk/sawIntuitiveResearchKit

void mtsTeleOperationECM::EnterEnabled(void)
{
    // set cartesian effort parameters
    mMTML.SetWrenchBodyOrientationAbsolute(true);
    mMTML.LockOrientation(mMTML.PositionCartesianCurrent.Position().Rotation());
    mMTMR.SetWrenchBodyOrientationAbsolute(true);
    mMTMR.LockOrientation(mMTMR.PositionCartesianCurrent.Position().Rotation());

    // initial state for MTM force feedback
    // -1- initial distance between MTMs
    vct3 vectorLR;
    vectorLR.DifferenceOf(mMTMR.PositionCartesianCurrent.Position().Translation(),
                          mMTML.PositionCartesianCurrent.Position().Translation());
    // -2- mid-point, aka center of image
    mInitial.C.SumOf(mMTMR.PositionCartesianCurrent.Position().Translation(),
                     mMTML.PositionCartesianCurrent.Position().Translation());
    mInitial.C.Multiply(0.5);
    // -3- image up vector
    mInitial.Up.CrossProductOf(vectorLR, mInitial.C);
    mInitial.Up.NormalizedSelf();
    // -4- width of image, depth of arms wrt image plan
    vct3 side;
    side.CrossProductOf(mInitial.C, mInitial.Up);
    side.NormalizedSelf();
    mInitial.w = 0.5 * vctDotProduct(side, vectorLR);
    mInitial.d = 0.5 * vctDotProduct(mInitial.C.Normalized(), vectorLR);

    // projections
    mInitial.Lr.Assign(mInitial.C[0], 0, mInitial.C[2]);
    mInitial.Lr.NormalizedSelf();
    mInitial.Ud.Assign(0, mInitial.C[1], mInitial.C[2]);
    mInitial.Ud.NormalizedSelf();
    mInitial.Cw.Assign(mInitial.Up[0], mInitial.Up[1], 0);
    mInitial.Cw.NormalizedSelf();

    mInitial.ECMPositionJoint = mECM.StateJointDesired.Position();

    // -5- store current rotation matrix for MTML, MTMR, and ECM
    vctEulerZYXRotation3 eulerAngles;
    eulerAngles.Assign(mInitial.ECMPositionJoint[3], mInitial.ECMPositionJoint[0], mInitial.ECMPositionJoint[1]);
    vctEulerToMatrixRotation3(eulerAngles, mInitial.ECMRotEuler);

    mInitial.MTMLRot = mMTML.PositionCartesianCurrent.Position().Rotation();
    mInitial.MTMRRot = mMTMR.PositionCartesianCurrent.Position().Rotation();

#if 0
    std::cerr << CMN_LOG_DETAILS << std::endl
              << "L: " << mMTML.PositionCartesianCurrent.Position().Translation() << std::endl
              << "R: " << mMTMR.PositionCartesianCurrent.Position().Translation() << std::endl
              << "C:  " << mInitial.C << std::endl
              << "Up: " << mInitial.Up << std::endl
              << "w:  " << mInitial.w << std::endl
              << "d:  " << mInitial.d << std::endl
              << "Si: " << side << std::endl;
#endif
    mInitial.ECMPositionJoint = mECM.StateJointDesired.Position();
    // check if by any chance the clutch pedal is pressed
    if (mIsClutched) {
        Clutch(true);
    } else {
        SetFollowing(true);
    }
}

Example #7

File: Car.cpp Project: AntonioModer/xray-16

void CCar::ReleasePedals()
{
	Clutch();
	NeutralDrive();//set zero speed
	UpdatePower();//set engine friction;
}