int PowerCube70hw::init(const char device[])
{
std::cout<<"Init powercube"<<std::endl;
//serial port INit
port.init(device);
if(port.setBaud(38400)!=PORT_OK)
{
std::cout<<"Error al inicializar puerto"<<std::endl;
return ERROR_PORT;
}
int r;
r=Reset();
if(r!=NOERROR)return r;
r=Home();
if(r!=NOERROR)return r;
std::cout<<"Homing..."<<std::endl;
#ifdef WIN32
Sleep(4);
#else
sleep(4);
#endif
std::cout<<"Homed..."<<std::endl;
SetSpeed(0.5,0.5);
SetAccel(0.5,0.5);
////Calibrado de Posicion a Tilt=0, Pan=0
//Sleep?En el caso de que la posicion diste mucho del homing por PW.Init
return NOERROR;
}
void ZNetCharacter::SetNetPosition(rvector& position, rvector& velocity, rvector& dir)
{
SetNetPosition(position);
SetVelocity(velocity);
SetAccel(rvector(0.0f, 0.0f, 0.0f));
/*
float fT = 0.1f;
//rvector pretar = position + velocity * fT + (0.5f * accel * fT * fT);
rvector pretar = position + velocity * fT;
rvector v = (pretar - m_Position) / fT;
SetNetPosition(position);
SetVelocity(v);
SetAccel(rvector(0.0f,0.0f,0.0f));
*/
m_TargetDir = dir;
m_fLastValidTime = ZGetGame()->GetTime();
}
