//===========================================================================
int cDeltaDevice::open()
{
// check if the system is available
if (!m_systemAvailable) return (-1);
// if system is already opened then return
if (m_systemReady) return (0);
// try to open the device
int result = dhdOpenID(m_deviceID);
// update device status
if (result == 0)
{
m_systemReady = true;
}
else
{
m_systemReady = false;
return (-1);
}
// read the device type
m_deviceType = dhdGetSystemType(m_deviceID);
switch (m_deviceType)
{
// default values are set to the omega
m_halfSizeWorkspace = OMEGA_DEVICE_WORKSPACE_HALF_SIZE;
m_maximumForces = OMEGA_DEVICE_MAXIMUM_FORCE;
// delta devices
case (DHD_DEVICE_3DOF):
case (DHD_DEVICE_6DOF):
case (DHD_DEVICE_6DOF_500):
{
m_halfSizeWorkspace = DELTA_DEVICE_WORKSPACE_HALF_SIZE;
m_maximumForces = DELTA_DEVICE_MAXIMUM_FORCE;
}
break;
// omega devices
case (DHD_DEVICE_OMEGA):
case (DHD_DEVICE_OMEGA3):
case (DHD_DEVICE_OMEGA33):
case (DHD_DEVICE_OMEGA331):
{
m_halfSizeWorkspace = OMEGA_DEVICE_WORKSPACE_HALF_SIZE;
m_maximumForces = OMEGA_DEVICE_MAXIMUM_FORCE;
}
break;
}
return (result);
}
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;
}
