FB::variant hapticAPI::stopDevice(void)
{
if (initialized){
if (hdPhantomClose(deviceID)!=-1){
hdPhantomStopServo();
initialized=false;
return true;
}
}
return false;
}
//===========================================================================
int cPhantomDevice::close()
{
// check if drivers are installed
if (!m_driverInstalled) return (-1);
// check if the system has been opened previously
if (!m_systemReady) return (-1);
// yes, the device is open so let's close it
int result = hdPhantomClose(m_deviceID);
// update status
m_systemReady = false;
// possibly turn off servo loop
hdPhantomStopServo();
// exit
return (result);
}
