[Libphidget-cvs-commits] CVS: libphidget/src/phidget++ CPhidgetManager.cc,1.16,1.17 CServoController.cc,1.10,1.11

[Jack S. <js...@us...>]

Update of /cvsroot/libphidget/libphidget/src/phidget++
In directory sc8-pr-cvs1:/tmp/cvs-serv20190/src/phidget++

Modified Files:
	CPhidgetManager.cc CServoController.cc 
Log Message:
Initial support for the 8 way advanced servo in phidget++, not fully tested yet.


Index: CPhidgetManager.cc
===================================================================
RCS file: /cvsroot/libphidget/libphidget/src/phidget++/CPhidgetManager.cc,v
retrieving revision 1.16
retrieving revision 1.17
diff -C2 -d -r1.16 -r1.17
*** CPhidgetManager.cc	23 Dec 2002 04:38:40 -0000	1.16
--- CPhidgetManager.cc	24 Jun 2003 02:43:51 -0000	1.17
***************
*** 93,96 ****
--- 93,97 ----
  		if (tp==LP_SERVO_CONTROLLER && dc==LP_UNI_SERVO) devices.insert(temp_uid);
  		if (tp==LP_SERVO_CONTROLLER && dc==LP_QUAD_SERVO) devices.insert(temp_uid);
+ 		if (tp==LP_SERVO_CONTROLLER && dc==LP_8WAY_SERVO) devices.insert(temp_uid);
  	}
  
***************
*** 224,228 ****
  			case  LP_UNI_SERVO:
  			case  LP_QUAD_SERVO:
! 			//case  LP_8WAY_SERVO:
  			{
  				CServoController *sc = new CServoController (uid);
--- 225,229 ----
  			case  LP_UNI_SERVO:
  			case  LP_QUAD_SERVO:
! 			case  LP_8WAY_SERVO:
  			{
  				CServoController *sc = new CServoController (uid);

Index: CServoController.cc
===================================================================
RCS file: /cvsroot/libphidget/libphidget/src/phidget++/CServoController.cc,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** CServoController.cc	23 Dec 2002 04:38:40 -0000	1.10
--- CServoController.cc	24 Jun 2003 02:43:51 -0000	1.11
***************
*** 35,43 ****
      			break;
  		}
! 		//case LP_8WAY_SERVO:
! 		//{
!     			//setServoCount(8);
!     			//break;
! 		//}
  		default:
  			throw runtime_error("Can't initialize a CServoController with a phidget that is not a servo controller");
--- 35,43 ----
      			break;
  		}
! 		case LP_8WAY_SERVO:
! 		{
!     			setServoCount(8);
!     			break;
! 		}
  		default:
  			throw runtime_error("Can't initialize a CServoController with a phidget that is not a servo controller");
***************
*** 189,192 ****
--- 189,231 ----
  
  		error(phidgetQuadServo(device(), p1, p2, p3, p4));
+ 	}
+ 	else
+ 	if (_servoCount==8) 
+ 	{
+ 		float p1 = 0, p2 = 0, p3 = 0, p4 = 0;
+ 		float p5 = 0, p6 = 0, p7 = 0, p8 = 0;
+ 
+ 		if (_servoCount >= 1 && _servos[0].second != NULL)
+     			p1 = _servos[0].second->position();
+ 
+ 		if (_servoCount >= 2 && _servos[1].second != NULL)
+     			p2 = _servos[1].second->position();
+ 
+ 		if (_servoCount >= 3 && _servos[2].second != NULL)
+     			p3 = _servos[2].second->position();
+ 
+ 		if (_servoCount >= 4 && _servos[3].second != NULL)
+     			p4 = _servos[3].second->position();
+ 
+ 		if (_servoCount >= 5 && _servos[4].second != NULL)
+     			p5 = _servos[4].second->position();
+ 
+ 		if (_servoCount >= 6 && _servos[5].second != NULL)
+     			p6 = _servos[5].second->position();
+ 
+ 		if (_servoCount >= 7 && _servos[6].second != NULL)
+     			p7 = _servos[6].second->position();
+ 
+ 		if (_servoCount >= 8 && _servos[7].second != NULL)
+     			p8 = _servos[7].second->position();
+ 
+ 		phidget8Servo(device(),0,p1,0,0);
+ 		phidget8Servo(device(),1,p2,0,0);
+ 		phidget8Servo(device(),2,p3,0,0);
+ 		phidget8Servo(device(),3,p4,0,0);
+ 		phidget8Servo(device(),4,p5,0,0);
+ 		phidget8Servo(device(),5,p6,0,0);
+ 		phidget8Servo(device(),6,p7,0,0);
+ 		phidget8Servo(device(),7,p8,0,0);
  	}
  	METHOD_UNGUARD;