void partMover::slider_release(GtkRange *range, gtkClassData* currentClassData)
{
partMover *currentPart = currentClassData->partPointer;
int * joint = currentClassData->indexPointer;
bool *POS_UPDATE = currentPart->CURRENT_POS_UPDATE;
IPositionControl *ipos = currentPart->pos;
IPidControl *ipid = currentPart->pid;
IPositionDirect *iDir = currentPart->iDir;
GtkWidget **sliderVel = currentPart->sliderVelArray;
double val = gtk_range_get_value(range);
double valVel = gtk_range_get_value((GtkRange *)sliderVel[*joint]);
IControlMode *iCtrl = currentPart->ctrlmode2;
int mode;
iCtrl->getControlMode(*joint, &mode);
if (!POS_UPDATE[*joint])
{
if( ( mode == VOCAB_CM_POSITION) || (mode == VOCAB_CM_MIXED) )
{
ipos->setRefSpeed(*joint, valVel);
ipos->positionMove(*joint, val);
}
else if( ( mode == VOCAB_CM_IMPEDANCE_POS))
{
fprintf(stderr, " using old 'impedance_position' mode, this control mode is deprecated!");
ipos->setRefSpeed(*joint, valVel);
ipos->positionMove(*joint, val);
}
else if ( mode == VOCAB_CM_POSITION_DIRECT)
{
if (position_direct_enabled)
{
iDir->setPosition(*joint, val);
}
else
{
fprintf(stderr, "You cannot send direct position commands without using --direct option!");
}
}
else
{
fprintf(stderr, "Joint not in position nor positionDirect so cannot send references");
}
}
return;
}
void partMover::sliderVel_release(GtkRange *range, gtkClassData* currentClassData)
{
partMover *currentPart = currentClassData->partPointer;
int * joint = currentClassData->indexPointer;
IPositionControl *ipos = currentPart->pos;
IPositionDirect *iDir = currentPart->iDir;
GtkWidget **sliderAry = currentPart->sliderArray;
IControlMode *iCtrl = currentPart->ctrlmode2;
int mode;
double val = gtk_range_get_value(range);
double posit = gtk_range_get_value((GtkRange *) sliderAry[*joint]);
ipos->setRefSpeed(*joint, val);
iCtrl->getControlMode(*joint, &mode);
ipos->positionMove(*joint, posit);
return;
}