void haptic_init()
{
int i,major, minor, release, revision;
dhdGetAPIVersion (&major, &minor, &release, &revision);
Com_Printf ("Force Dimension - %d.%d.%d.%d\n", major, minor, release, revision);
Com_Printf ("(C) 2010 Force Dimension\n");
Com_Printf ("All Rights Reserved.\n\n");
//Com_Printf ("%s device detected\n\n", dhdGetSystemName());
if(haptic_ok)
return;
//axes = (double*)malloc(AXES*sizeof(double));
buf = (haptic_t*)malloc(sizeof(haptic_t));
{
buf->fmove = 0;
for(i=0;i<AXES;i++)
buf->views[i] = 0;
for(i=0;i<BTN_CNT;i++)
buf->buttons[i] = 0;
}
for(i=0;i<AXES;i++)
axes[i] = 0;
//haptic_ok = !(dhdOpen() < 0);
i = dhdOpen();
if(i >= 0)
haptic_ok = true;
Com_Printf("%s\r\n",dhdErrorGetLastStr());
if(!haptic_ok)
return;
//dhdReset(DHD);
// dhdWaitForReset(0,DHD);
dhdSetGravityCompensation(DHD_ON,DHD);
dhdSetForce(0,0,0,DHD);
return;
}
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;
}