void Dynamixel::connect(){ // Initiallizes the motor and generates the ftHandleDYNA
FT_STATUS ftStatus = FT_OpenEx(serialNumber_,FT_OPEN_BY_SERIAL_NUMBER,&ftHandleDYNA_);
if (ftStatus != FT_OK)
{
qDebug()<<"failed to open dyna";
emit failedToOpen();
Sleep(2000);
return;
}
//Initialize the USB2Dynamixel
initialized_=DYNA_initialize(ftHandleDYNA_);
if(!initialized_){
qDebug()<<"failed to initialize";
emit failedToOpen();
return;
}
Sleep(50);
qDebug()<< "Opend Dynamixel!";
}
DatabaseHelper::DatabaseHelper(QObject *parent) : QObject(parent) {
mDB = QSqlDatabase::addDatabase("QSQLITE");
#ifdef Q_OS_MAC
QString databaseName = QApplication::applicationDirPath().append(QDir::separator()).append(DATABASE_NAME);
mDB.setDatabaseName(QDir::toNativeSeparators(databaseName)); // NOTE: File exists in the application private folder, in Symbian Qt implementation
#endif
#ifdef Q_OS_WIN32
mDB.setDatabaseName(DATABASE_NAME);
#endif
#ifdef Q_OS_LINUX
QString path(QDir::home().path());
path.append(QDir::separator()).append(DATABASE_NAME);
mDB.setDatabaseName(QDir::toNativeSeparators(path));
#endif
if (!mDB.open()) emit failedToOpen();
else this->createTables();
}
