Update of /cvsroot/libphidget/libphidget/src/examples
In directory sc8-pr-cvs1:/tmp/cvs-serv25634/examples
Modified Files:
phidget_c.c
Log Message:
Lot's of changes with how servo controller classes work. Now added seperate classes for servo controllers (uni and quad).
Index: phidget_c.c
===================================================================
RCS file: /cvsroot/libphidget/libphidget/src/examples/phidget_c.c,v
retrieving revision 1.18
retrieving revision 1.19
diff -C2 -d -r1.18 -r1.19
*** phidget_c.c 17 Dec 2002 22:12:11 -0000 1.18
--- phidget_c.c 23 Dec 2002 04:38:39 -0000 1.19
***************
*** 21,25 ****
int t, count;
struct phidget **phidgets;
! int SERVO=0;
int IK488=0;
int IKDIGITALWRITE=0;
--- 21,27 ----
int t, count;
struct phidget **phidgets;
! int SERVO1=0;
! int SERVO4=0;
! int SERVO8=0;
int IK488=0;
int IKDIGITALWRITE=0;
***************
*** 81,87 ****
if (argn==2)
{
! if (strcmp(argv[1],"SERVO1")==0) SERVO=1;
! if (strcmp(argv[1],"SERVO4")==0) SERVO=1;
! if (strcmp(argv[1],"SERVO8")==0) SERVO=1;
if (strcmp(argv[1],"IK488")==0) IK488=1;
if (strcmp(argv[1],"IK880")==0) IK880=1;
--- 83,89 ----
if (argn==2)
{
! if (strcmp(argv[1],"SERVO1")==0) SERVO1=1;
! if (strcmp(argv[1],"SERVO4")==0) SERVO4=1;
! if (strcmp(argv[1],"SERVO8")==0) SERVO8=1;
if (strcmp(argv[1],"IK488")==0) IK488=1;
if (strcmp(argv[1],"IK880")==0) IK880=1;
***************
*** 131,136 ****
}
! if (SERVO)
! if (phidgetTypeDeviceClass (phidgetType (dev)) == LP_SERVO_CONTROLLER)
{
for (k = 0; k < 1; k += .1)
--- 133,140 ----
}
! if (
! (SERVO1 && phidgetTypeDeviceClass (phidgetType (dev)) == LP_UNI_SERVO) ||
! (SERVO4 && phidgetTypeDeviceClass (phidgetType (dev)) == LP_QUAD_SERVO)
! )
{
for (k = 0; k < 1; k += .1)
***************
*** 139,148 ****
printf ("%f\n",k);
! // Move a single servo (will move servo 0 of a 1 or 4 servo controller)
! //if (phidget8Servo (dev, k,0,.1,.1)<0)
! if (phidgetSingleServo (dev, k)<0)
{
! printf("error - %s\n",phidgetErrorString(phidgetLastError()));
! return(5);
}
--- 143,164 ----
printf ("%f\n",k);
! // Move a single servo (will move
!
! if (SERVO1)
{
! if (phidgetSingleServo (dev, k)<0)
! {
! printf("error - %s\n",phidgetErrorString(phidgetLastError()));
! return(5);
! }
! }
!
! if (SERVO4)
! {
! if (phidgetQuadServo (dev, k,k,k,k)<0)
! {
! printf("error - %s\n",phidgetErrorString(phidgetLastError()));
! return(5);
! }
}
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