FalconCubeTest::FalconCubeTest(boost::shared_ptr<libnifalcon::FalconDevice> d) :
FalconTestBase(d),
m_cornerA(-.030, -.030, .095),
m_cornerB(.030, .030, .155 ),
m_stiffness(1000),
m_isInitializing(true),
m_hasPrintedInitMsg(false)
{
setPrintOnCount(1000);
m_falconDevice->setFalconKinematic<libnifalcon::FalconKinematicStamper>();
}
FalconSphereTest::FalconSphereTest(std::shared_ptr<libnifalcon::FalconDevice> d) :
FalconTestBase(d),
m_radius(0.028),
m_stiffness(1000.0),
m_isInitializing(true),
m_hasPrintedInitMsg(false),
m_plusButtonDown(false),
m_minusButtonDown(false),
m_centerButtonDown(false),
m_forwardButtonDown(false)
{
setPrintOnCount(1000);
m_falconDevice->setFalconKinematic<libnifalcon::FalconKinematicStamper>();
m_falconDevice->setFalconGrip<libnifalcon::FalconGripFourButton>();
m_oldpos[0] = m_oldpos[1] = m_oldpos[2] = 0.0;
}
