//Display the properties of the attached phidget to the screen. We will be displaying the name, serial number and version of the attached device.
//Will also display the number of inputs, outputs, and analog inputs on the interface kit as well as the state of the ratiometric flag
//and the current analog sensor sensitivity.
int IKDisplayProperties(CPhidgetInterfaceKitHandle phid)
{
int serialNo, version, numInputs, numOutputs, numSensors, triggerVal, ratiometric, i;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetInterfaceKit_getInputCount(phid, &numInputs);
CPhidgetInterfaceKit_getOutputCount(phid, &numOutputs);
CPhidgetInterfaceKit_getSensorCount(phid, &numSensors);
CPhidgetInterfaceKit_getRatiometric(phid, &ratiometric);
SetupLog("%s", ptr);
SetupLog("Serial Number: %10d\nVersion: %8d", serialNo, version);
SetupLog("# Digital Inputs: %d\n# Digital Outputs: %d", numInputs, numOutputs);
SetupLog("# Sensors: %d", numSensors);
SetupLog("Ratiometric: %d", ratiometric);
for(i = 0; i < numSensors; i++)
{
CPhidgetInterfaceKit_getSensorChangeTrigger (phid, i, &triggerVal);
SetupLog("Sensor#: %d > Sensitivity Trigger: %d\n", i, triggerVal);
}
return 0;
}
int display_properties(CPhidgetPHSensorHandle phid)
{
int serialNo, version;
double trigger, potential;
double min, max;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetPHSensor_getPHChangeTrigger(phid, &trigger);
CPhidgetPHSensor_getPotential(phid, &potential);
ROS_INFO("%s\n", ptr);
ROS_INFO("Serial Number: %10d\nVersion: %8d\n",
serialNo, version);
ROS_INFO("Trigger Sensitivity: %f\nPotential: %f\n",
trigger, potential);
CPhidgetPHSensor_getPHMax(phid, &max);
CPhidgetPHSensor_getPHMin(phid, &min);
ROS_INFO("Max PH: %0.4lf, Min PH: %0.4lf\n", max, min);
CPhidgetPHSensor_getPotentialMax(phid, &max);
CPhidgetPHSensor_getPotentialMin(phid, &min);
ROS_INFO("Max Potential: %0.2lfmV, " \
"Min Potential: %0.2lfmV\n", max, min);
return 0;
}
int main(int argc, char* argv[]) {
int result, numOutputs = 3, state = 0;
const char *err, *ptr;
CPhidgetInterfaceKitHandle phid = 0;
LocalErrorCatcher(CPhidgetInterfaceKit_create(&phid));
LocalErrorCatcher(CPhidget_set_OnAttach_Handler((CPhidgetHandle) phid, AttachHandler, NULL));
LocalErrorCatcher(CPhidget_set_OnDetach_Handler((CPhidgetHandle) phid, DetachHandler, NULL));
LocalErrorCatcher(CPhidget_set_OnError_Handler((CPhidgetHandle) phid, ErrorHandler, NULL));
// printf("Phidget Simple Playground (plug and unplug devices)\n");
// printf("Opening...\n");
LocalErrorCatcher(CPhidget_open((CPhidgetHandle) phid, -1));
LocalErrorCatcher(CPhidget_waitForAttachment((CPhidgetHandle) phid, 100000));
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidgetInterfaceKit_getOutputCount(phid, &numOutputs);
// printf("%s\n", ptr);
printf("Turning power on\n");
CPhidgetInterfaceKit_setOutputState(phid, 0, 1);
printf("done\n");
LocalErrorCatcher(CPhidget_close((CPhidgetHandle) phid));
LocalErrorCatcher(CPhidget_delete((CPhidgetHandle) phid));
return 0;
}
//Display the properties of the attached phidget(s) to the screen. We will be displaying the name, serial number and version of the attached device(s).
int display_devices(CPhidgetManagerHandle MAN)
{
int serialNo, version, numDevices, i;
const char* ptr;
CPhidgetHandle *devices;
CPhidgetManager_getAttachedDevices (MAN, &devices, &numDevices);
printf("|- # -|- Type -|- Serial No. -|- Version -|\n");
printf("|-------|----------------------------------|--------------|------------|\n");
for(i = 0; i < numDevices; i++)
{
CPhidget_getDeviceType(devices[i], &ptr);
CPhidget_getSerialNumber(devices[i], &serialNo);
CPhidget_getDeviceVersion(devices[i], &version);
printf("|- %3d -|- %30s -|- %10d -|- %8d -|\n", i, ptr, serialNo, version);
printf("|-------|----------------------------------|--------------|------------|\n");
}
CPhidgetManager_freeAttachedDevicesArray(devices);
return 0;
}
int display_properties(CPhidgetAccelerometerHandle phid)
{
int serial_number, version, num_axes;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid,
&serial_number);
CPhidget_getDeviceVersion((CPhidgetHandle)phid,
&version);
CPhidgetAccelerometer_getAxisCount((CPhidgetAccelerometerHandle)phid,
&num_axes);
// initialise acceleration values
ros::Time begin = ros::Time::now();
acc.acceleration.clear();
acc.stamp.clear();
for (int i = 0; i < num_axes; i++) {
acc.acceleration.push_back(0);
acc.stamp.push_back(begin);
acc.stamp.push_back(begin);
acc.stamp.push_back(begin);
}
ROS_INFO("%s", ptr);
ROS_INFO("Serial Number: %d", serial_number);
ROS_INFO("Version: %d", version);
ROS_INFO("Number of axes %d", num_axes);
return 0;
}
int display_properties(CPhidgetInterfaceKitHandle phid)
{
int serial_number, version, ratiometric, num_sensors, num_inputs, num_outputs, triggerVal;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serial_number);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetInterfaceKit_getInputCount(phid, &num_inputs);
CPhidgetInterfaceKit_getOutputCount(phid, &num_outputs);
CPhidgetInterfaceKit_getSensorCount(phid, &num_sensors);
CPhidgetInterfaceKit_getRatiometric(phid, &ratiometric);
ROS_INFO("%s", ptr);
ROS_INFO("Serial Number: %d", serial_number);
ROS_INFO("Version: %d", version);
ROS_INFO("Number of digital inputs %d", num_inputs);
ROS_INFO("Number of digital outputs %d", num_outputs);
ROS_INFO("Number of sensors %d", num_sensors);
ROS_INFO("Ratiometric %d", ratiometric);
for (int i = 0; i < num_sensors; i++)
{
CPhidgetInterfaceKit_getSensorChangeTrigger (phid, i, &triggerVal);
//CPhidgetInterfaceKit_setSensorChangeTrigger (phid, i, 10);
ROS_INFO("Sensor %d Sensitivity Trigger %d", i, triggerVal);
}
return 0;
}
// display the properties and create the ifkit model. Should really refactor...
int PhidgetConnector::display_properties(CPhidgetInterfaceKitHandle phid) {
int serialNo, version, numInputs, numOutputs, numSensors, triggerVal, ratiometric, i;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetInterfaceKit_getInputCount(phid, &numInputs);
CPhidgetInterfaceKit_getOutputCount(phid, &numOutputs);
CPhidgetInterfaceKit_getSensorCount(phid, &numSensors);
CPhidgetInterfaceKit_getRatiometric(phid, &ratiometric);
ifKitModels.push_back(new IFKitModel(serialNo, numSensors));
printf("%s\n", ptr);
printf("Serial Number: %10d\nVersion: %8d\n", serialNo, version);
printf("# Digital Inputs: %d\n# Digital Outputs: %d\n", numInputs, numOutputs);
printf("# Sensors: %d\n", numSensors);
printf("Ratiometric: %d\n", ratiometric);
for(i = 0; i < numSensors; i++) {
CPhidgetInterfaceKit_setSensorChangeTrigger(phid, i, 0);
CPhidgetInterfaceKit_getSensorChangeTrigger (phid, i, &triggerVal);
printf("Sensor#: %d > Sensitivity Trigger: %d\n", i, triggerVal);
}
return 0;
}
//Display the properties of the attached phidget to the screen. We will be displaying the name, serial number and version of the attached device.
int display_properties(CPhidgetTextLCDHandle phid)
{
int serialNo, version, numRows, numColumns, backlight, cursor, contrast, cursor_blink, numScreens;
const char* ptr;
CPhidget_DeviceID id;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidget_getDeviceID((CPhidgetHandle)phid, &id);
CPhidgetTextLCD_getRowCount (phid, &numRows);
CPhidgetTextLCD_getColumnCount (phid, &numColumns);
CPhidgetTextLCD_getBacklight (phid, &backlight);
CPhidgetTextLCD_getContrast (phid, &contrast);
CPhidgetTextLCD_getCursorOn (phid, &cursor);
CPhidgetTextLCD_getCursorBlink (phid, &cursor_blink);
printf("%s\n", ptr);
printf("Serial Number: %10d\nVersion: %8d\n", serialNo, version);
if(id == PHIDID_TEXTLCD_ADAPTER){
CPhidgetTextLCD_getScreenCount (phid, &numScreens);
printf("# Screens: %d\n", numScreens);
CPhidgetTextLCD_setScreen(phid, 0);
CPhidgetTextLCD_setScreenSize(phid, PHIDGET_TEXTLCD_SCREEN_2x16);
CPhidgetTextLCD_initialize(phid);
}
printf("# Rows: %d\n# Columns: %d\n", numRows, numColumns);
printf("Current Contrast Level: %d\nBacklight Status: %d\n", contrast, backlight);
printf("Cursor Status: %d\nCursor Blink Status: %d\n", cursor, cursor_blink);
return 0;
}
int display_properties(CPhidgetSpatialHandle phid)
{
int serialNo, version;
const char* ptr;
int numAccelAxes, numGyroAxes, numCompassAxes;
int dataRateMax, dataRateMin;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetSpatial_getAccelerationAxisCount((CPhidgetSpatialHandle)phid,
&numAccelAxes);
CPhidgetSpatial_getGyroAxisCount((CPhidgetSpatialHandle)phid,
&numGyroAxes);
CPhidgetSpatial_getCompassAxisCount((CPhidgetSpatialHandle)phid,
&numCompassAxes);
CPhidgetSpatial_getDataRateMax((CPhidgetSpatialHandle)phid,
&dataRateMax);
CPhidgetSpatial_getDataRateMin((CPhidgetSpatialHandle)phid,
&dataRateMin);
ROS_INFO("%s\n", ptr);
ROS_INFO("Serial Number: %10d\nVersion: %8d\n",
serialNo, version);
ROS_INFO("Number of Accel Axes: %i\n", numAccelAxes);
ROS_INFO("Number of Gyro Axes: %i\n", numGyroAxes);
ROS_INFO("Number of Compass Axes: %i\n", numCompassAxes);
ROS_INFO("datarate> Max: %d Min: %d\n",
dataRateMax, dataRateMin);
return 0;
}
Wt::WContainerWidget* WidgetsCommon::CreateWidget()
{
PhidgetsInfo* item = ::GetPhidgetManager()->FindPhidgetBySerial(GetSerial());
if (!item)
return NULL;
CPhidgetHandle handle = item->m_phidget->GetHandle();
Wt::WContainerWidget* tab_container = new Wt::WContainerWidget();
Wt::WHBoxLayout* hbox = new Wt::WHBoxLayout(tab_container);
Wt::WTable* table = new Wt::WTable();
hbox->addWidget(table);
table->columnAt(0)->setWidth(GetLeftColumnWidth());
table->columnAt(1)->setWidth(Wt::WLength::Auto);
int row = 0;
const char* string_value;
int int_value;
if (EPHIDGET_OK == CPhidget_getDeviceName(handle, &string_value))
{
table->elementAt(row, 0)->addWidget(new Wt::WText(Wt::WString::tr("DeviceName")));
table->elementAt(row++, 1)->addWidget(new Wt::WText(Wt::WString(string_value, Wt::UTF8)));
}
if (EPHIDGET_OK == CPhidget_getSerialNumber(handle, &int_value))
{
table->elementAt(row, 0)->addWidget(new Wt::WText(Wt::WString::tr("SerialNumber")));
table->elementAt(row++, 1)->addWidget(new Wt::WText(Wt::WString("{1}").arg(int_value)));
}
if (EPHIDGET_OK == CPhidget_getDeviceVersion(handle, &int_value))
{
table->elementAt(row, 0)->addWidget(new Wt::WText(Wt::WString::tr("DeviceVersion")));
table->elementAt(row++, 1)->addWidget(new Wt::WText(Wt::WString("{1}").arg(int_value)));
}
if (EPHIDGET_OK == CPhidget_getDeviceStatus(handle, &int_value))
{
table->elementAt(row, 0)->addWidget(new Wt::WText(Wt::WString::tr("DeviceStatus")));
table->elementAt(row++, 1)->addWidget(new Wt::WText(Wt::WString("{1}").arg(int_value)));
}
if (EPHIDGET_OK == CPhidget_getDeviceType(handle, &string_value))
{
table->elementAt(row, 0)->addWidget(new Wt::WText(Wt::WString::tr("DeviceType")));
table->elementAt(row++, 1)->addWidget(new Wt::WText(Wt::WString(string_value, Wt::UTF8)));
}
if (EPHIDGET_OK == CPhidget_getDeviceLabel(handle, &string_value))
{
table->elementAt(row, 0)->addWidget(new Wt::WText(Wt::WString::tr("DeviceLabel")));
table->elementAt(row++, 1)->addWidget(new Wt::WText(Wt::WString(string_value, Wt::UTF8)));
}
return tab_container;
}
int main(int argc, char* argv[]) {
// Set up a SIGINT handler.
signal(SIGINT, catch_sigint);
// Create the InterfaceKit object.
CPhidgetInterfaceKitHandle ifKit = 0;
CPhidgetInterfaceKit_create(&ifKit);
// Register device handlers.
CPhidget_set_OnAttach_Handler((CPhidgetHandle)ifKit, attach_handler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)ifKit, detach_handler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)ifKit, error_handler, NULL);
// Open the interfacekit for device connections.
CPhidget_open((CPhidgetHandle)ifKit, -1);
// Wait for a device attachment.
fprintf(stderr, "waiting for interface kit to be attached....\n");
int result;
const char *err;
if ((result = CPhidget_waitForAttachment((CPhidgetHandle)ifKit, 10000))) {
CPhidget_getErrorDescription(result, &err);
fprintf(stderr, "problem waiting for attachment: %s\n", err);
return 0;
}
// Check some properties of the device.
const char *device_type;
int num_outputs;
CPhidget_getDeviceType((CPhidgetHandle)ifKit, &device_type);
CPhidgetInterfaceKit_getOutputCount(ifKit, &num_outputs);
if ((strcmp(device_type, "PhidgetInterfaceKit") != 0)) {
fprintf(stderr, "unexpected device type: %s\n", device_type);
return 1;
}
if (num_outputs != 4) {
fprintf(stderr, "unexpected number of device outputs: %d\n", num_outputs);
return 1;
}
while (1) {
double time = get_time_in_seconds();
double factor = 1;
int l0_state = fmod(time * factor, 20) < 10;
int l1_state = fmod(time * factor, 20) >= 10;
CPhidgetInterfaceKit_setOutputState(ifKit, 0, l0_state);
CPhidgetInterfaceKit_setOutputState(ifKit, 2, l1_state);
usleep(100000);
}
fprintf(stderr, "shutting down...\n");
CPhidget_close((CPhidgetHandle)ifKit);
CPhidget_delete((CPhidgetHandle)ifKit);
return 0;
}
void ioPhidget::display_generic_properties(CPhidgetHandle phid)
{
const char *deviceptr;
CPhidget_getDeviceType(phid, &deviceptr);
CPhidget_getSerialNumber(phid, &serialNumber);
CPhidget_getDeviceVersion(phid, &version);
printf("%s\n", deviceptr);
printf("Version: %8d SerialNumber: %10d\n", version, serialNumber);
return;
}
JNIEXPORT jstring JNICALL
Java_com_phidgets_Phidget_getDeviceType(JNIEnv *env, jobject obj)
{
CPhidgetHandle h = (CPhidgetHandle)(uintptr_t)(*env)->GetLongField(env,
obj, handle_fid);
const char *type;
int error;
if ((error = CPhidget_getDeviceType(h, &type)))
PH_THROW(error);
return (*env)->NewStringUTF(env, type);
}
void display_generic_properties(CPhidgetHandle phid)
{
int sernum, version;
const char *deviceptr, *label;
CPhidget_getDeviceType(phid, &deviceptr);
CPhidget_getSerialNumber(phid, &sernum);
CPhidget_getDeviceVersion(phid, &version);
CPhidget_getDeviceLabel(phid, &label);
printf("%s\n", deviceptr);
printf("Version: %8d SerialNumber: %10d\n", version, sernum);
printf("Label: %s\n", label);
return;
}
/**
* Prints info about this motor
*/
void PhidgetLEDController::displayProperties()
{
int serialNo, version, numLED;
const char* ptr;
CPhidget_getDeviceType(getPhidgetHandle(), &ptr);
CPhidget_getSerialNumber(getPhidgetHandle(), &serialNo);
CPhidget_getDeviceVersion(getPhidgetHandle(), &version);
CPhidgetLED_getLEDCount(m_LEDControl, &numLED);
printf("%s\n", ptr);
printf("Serial Number: %10d\nVersion: %8d\n", serialNo, version);
printf("# LEDs: %d\n", numLED);
}
int display_properties(CPhidgetHandle phid)
{
int serialNo, version;
const char* ptr;
CPhidget_getDeviceType(phid, &ptr);
CPhidget_getSerialNumber(phid, &serialNo);
CPhidget_getDeviceVersion(phid, &version);
printf("%s\n", ptr);
printf("Serial Number: %10d\nVersion: %8d\n", serialNo, version);
return 0;
}
//Display the properties of the attached phidget to the screen. We will be displaying the name, serial number and version of the attached device.
int display_properties(CPhidgetServoHandle phid)
{
int serialNo, version, numMotors;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetServo_getMotorCount (phid, &numMotors);
printf("%s\n", ptr);
printf("Serial Number: %10d\nVersion: %8d\n# Motors: %d\n", serialNo, version, numMotors);
return 0;
}
//Display the properties of the attached phidget to the screen. We will be displaying the name, serial number and version of the attached device.
int ASDisplayProperties(CPhidgetAdvancedServoHandle phid)
{
int serialNo, version, numMotors;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetAdvancedServo_getMotorCount (phid, &numMotors);
SetupLog("%s", ptr);
SetupLog("Serial Number: %10d\nVersion: %8d\n# Motors: %d", serialNo, version, numMotors);
return 0;
}
//Display the properties of the attached phidget to the screen. We will be displaying the name, serial number and version of the attached device.
//We will also display the total number of available LEDs
int display_properties(CPhidgetLEDHandle phid)
{
int serialNo, version, numLED;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetLED_getLEDCount(phid, &numLED);
printf("%s\n", ptr);
printf("Serial Number: %10d\nVersion: %8d\n", serialNo, version);
printf("# LEDs: %d\n", numLED);
return 0;
}
//Display the properties of the attached phidget to the screen.
//We will be displaying the name, serial number, version of the attached device and number of Axes on the accelerometer.
int display_properties(CPhidgetHandle phid)
{
int serialNo, version;
const char* ptr;
int numAxes;
CPhidget_getDeviceType(phid, &ptr);
CPhidget_getSerialNumber(phid, &serialNo);
CPhidget_getDeviceVersion(phid, &version);
CPhidgetAccelerometer_getAxisCount((CPhidgetAccelerometerHandle)phid, &numAxes);
printf("%s\n", ptr);
printf("Serial Number: %10d\nVersion: %8d\n", serialNo, version);
printf("Number of Axes: %i\n", numAxes);
return 0;
}
int MCDisplayProperties(CPhidgetMotorControlHandle phid)
{
int serialNo, version, numInputs, numMotors;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetMotorControl_getInputCount(phid, &numInputs);
CPhidgetMotorControl_getMotorCount(phid, &numMotors);
SetupLog("%s", ptr);
SetupLog("Serial Number: %10d\nVersion: %8d", serialNo, version);
SetupLog("# Inputs: %d\n# Motors: %d", numInputs, numMotors);
return 0;
}
/**
* Prints info about this controller
*/
void PhidgetAnalogOutController::displayProperties()
{
int serialNo, version, numAnalog;
double max, min;
const char* ptr;
CPhidget_getDeviceType(getPhidgetHandle(), &ptr);
CPhidget_getSerialNumber(getPhidgetHandle(), &serialNo);
CPhidget_getDeviceVersion(getPhidgetHandle(), &version);
CPhidgetAnalog_getOutputCount(m_analogOut, &numAnalog);
CPhidgetAnalog_getVoltageMax(m_analogOut, 0, &max);
CPhidgetAnalog_getVoltageMin(m_analogOut, 0, &min);
printf("%s\n", ptr);
printf("Serial Number: %10d\nVersion: %8d\n", serialNo, version);
printf("# Analog Outputs: %d\n", numAnalog);
printf("Output range: -%0.1lfV - %0.1lfV\n",min,max);
}
void display_properties( CPhidgetAdvancedServoHandle phid )
{
int serialNo, version, numMotors;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetAdvancedServo_getMotorCount (phid, &numMotors);
printf("%s\n", ptr);
printf("Serial Number: %10d\nVersion: %8d\n# Motors: %d\n", serialNo, version, numMotors);
printf( "Parameters:\nmin acceleration: %f\nmax acceleration: %f\nmin velocity: %f\nmax velocity: %f\n",
minAcc, maxAcc, minVel, maxVel );
}
//Display the properties of the attached phidget to the screen. We will be displaying the name, serial number and version of the attached device.
//Will also display the number of inputs and encoders on this device
int display_properties(CPhidgetEncoderHandle phid)
{
int serialNo, version, num_inputs, num_encoders;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetEncoder_getInputCount(phid, &num_inputs);
CPhidgetEncoder_getEncoderCount(phid, &num_encoders);
printf("%s\n", ptr);
printf("Serial Number: %10d\nVersion: %8d\n", serialNo, version);
printf("Num Encoders: %d\nNum Inputs: %d\n", num_encoders, num_inputs);
return 0;
}
//Display the properties of the attached phidget to the screen. We will be displaying the name, serial number and version of the attached device.
int display_properties(CPhidgetPHSensorHandle phid)
{
int serialNo, version;
double trigger, potential;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetPHSensor_getPHChangeTrigger(phid, &trigger);
CPhidgetPHSensor_getPotential(phid, &potential);
printf("%s\n", ptr);
printf("Serial Number: %10d\nVersion: %8d\n", serialNo, version);
printf("Trigger Sensitivity: %f\nPotential: %f\n", trigger, potential);
return 0;
}
int display_properties(CPhidgetRFIDHandle phid)
{
int serialNo, version, numOutputs, antennaOn, LEDOn;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetRFID_getOutputCount (phid, &numOutputs);
CPhidgetRFID_getAntennaOn (phid, &antennaOn);
CPhidgetRFID_getLEDOn (phid, &LEDOn);
ROS_INFO("%s\n", ptr);
ROS_INFO("Serial Number: %10d\nVersion: %8d\n", serialNo, version);
ROS_INFO("# Outputs: %d\n\n", numOutputs);
ROS_INFO("Antenna Status: %d\nOnboard LED Status: %d\n", antennaOn, LEDOn);
return 0;
}
int MotorDisplayProperties(CPhidgetMotorControlHandle phid)
{
int serialNo, version, numInputs, numMotors;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetMotorControl_getInputCount(phid, &numInputs);
CPhidgetMotorControl_getMotorCount(phid, &numMotors);
#if (DEBUG_MODE_LOW)
printf("%s\n", ptr);
printf("Serial Number: %10d\nVersion: %8d\n", serialNo, version);
printf("# Inputs: %d\n# Motors: %d\n", numInputs, numMotors);
#endif
return 0;
}
int display_properties(CPhidgetMotorControlHandle phid)
{
int serial_number, version, num_motors, num_inputs;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid,
&serial_number);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetMotorControl_getInputCount(phid, &num_inputs);
CPhidgetMotorControl_getMotorCount(phid, &num_motors);
ROS_INFO("%s", ptr);
ROS_INFO("Serial Number: %d", serial_number);
ROS_INFO("Version: %d", version);
ROS_INFO("Number of motors %d", num_motors);
ROS_INFO("Number of inputs %d", num_inputs);
return 0;
}
//Display the properties of the attached phidget to the screen. We will be displaying the name, serial number and version of the attached device.
int display_properties(CPhidgetTemperatureSensorHandle phid)
{
int serialNo, version, numInputs, i;
double value;
const char* ptr;
double min, max;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetTemperatureSensor_getTemperatureInputCount (phid, &numInputs);
printf("%s\n", ptr);
printf("Serial Number: %10d\nVersion: %8d\n", serialNo, version);
printf("# Temperature Inputs: %d\n", numInputs);
for(i = 0; i < numInputs; i++)
{
CPhidgetTemperatureSensor_getTemperatureChangeTrigger (phid, i, &value);
CPhidgetTemperatureSensor_getTemperatureMax(phid, i, &max);
CPhidgetTemperatureSensor_getTemperatureMin(phid, i, &min);
printf("Temperature Input #: %d > sensitivity: %f Max: %0.0f, Min: %0.0f\n", i, value, max, min);
}
CPhidgetTemperatureSensor_getPotentialMax(phid, 0, &max);
CPhidgetTemperatureSensor_getPotentialMin(phid, 0, &min);
printf("Potential Max: %0.3f, Min: %0.3f\n", max, min);
CPhidgetTemperatureSensor_getAmbientTemperatureMax(phid, &max);
CPhidgetTemperatureSensor_getAmbientTemperatureMin(phid, &min);
printf("Ambient Sensor Max: %0.0f, Min: %0.0f\n", max, min);
return 0;
}
int display_properties(CPhidgetMotorControlHandle phid){
int serialNo, version, numEncoders, numInputs, numMotors, numSensors, ratiometric;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetMotorControl_getEncoderCount(phid, &numEncoders);
CPhidgetMotorControl_getInputCount(phid, &numInputs);
CPhidgetMotorControl_getMotorCount(phid, &numMotors);
CPhidgetMotorControl_getSensorCount(phid, &numSensors);
CPhidgetMotorControl_getRatiometric(phid, &ratiometric);
ROS_INFO("%s\n", ptr);
ROS_INFO("Serial Number: %10d\nVersion: %8d\n", serialNo, version);
ROS_INFO("# Encoders: %d\n", numEncoders);
ROS_INFO("# Inputs: %d\n", numInputs);
ROS_INFO("# Motors: %d\n", numMotors);
ROS_INFO("# Sensors: %d\n", numSensors);
ROS_INFO("Ratiometric: %d\n", ratiometric);
return 0;
}