void cMotorController::InitDACOut()
{
#ifdef SENSORAY826
int fail = S826_DacRangeWrite(PCI_BOARD, channelNum, VOLTRANGE, 0);
if (fail == 0)
qDebug() << "DAC" << channelNum << "init'ed";
#endif
}
static int NRCstart(uint board)
{
uint safemode = 0;
int errcode;
printf("Neuromorphic Robot Control\n");
redisContext *c = redisConnect("127.0.0.1", 6379);
if (c == NULL || c->err) {
if (c) {
printf("Error: %s\n", c->errstr);
// handle error
} else {
printf("Can't allocate redis context\n");
}
}
X826( S826_SafeWrenWrite(board, 0) );
X826( S826_SafeWrenWrite(board, 1) );
X826( S826_SafeWrenWrite(board, 2) );
X826( S826_DacRangeWrite(board, 0, S826_DAC_SPAN_5_5, safemode) ); // program dac output range: -10V to +10V
X826( S826_DacRangeWrite(board, 1, S826_DAC_SPAN_5_5, safemode) );
X826( S826_DacRangeWrite(board, 2, S826_DAC_SPAN_5_5, safemode) );
while(1) {
redisReply *y = redisCommand(c, "GET yaw");
X826( S826_DacDataWrite(board, 2, strtoul(y->str, 0, 0), safemode) );
redisReply *p = redisCommand(c, "GET pitch");
X826( S826_DacDataWrite(board, 0, strtoul(p->str, 0, 0), safemode) );
redisReply *s = redisCommand(c, "GET slider");
X826( S826_DacDataWrite(board, 1, strtoul(s->str, 0, 0), safemode) );
}
return errcode;
}
