00001 //=========================================================================== 00002 /* 00003 This file is part of the CHAI 3D visualization and haptics libraries. 00004 Copyright (C) 2003-2009 by CHAI 3D. All rights reserved. 00005 00006 This library is free software; you can redistribute it and/or modify 00007 it under the terms of the GNU General Public License("GPL") version 2 00008 as published by the Free Software Foundation. 00009 00010 For using the CHAI 3D libraries with software that can not be combined 00011 with the GNU GPL, and for taking advantage of the additional benefits 00012 of our support services, please contact CHAI 3D about acquiring a 00013 Professional Edition License. 00014 00015 \author <http://www.chai3d.org> 00016 \author Federico Barbagli 00017 \version 2.0.0 $Rev: 256 $ 00018 */ 00019 //=========================================================================== 00020 00021 //--------------------------------------------------------------------------- 00022 #ifndef cDriverSensoray626H 00023 #define cDriverSensoray626H 00024 //--------------------------------------------------------------------------- 00025 #include "devices/CGenericDevice.h" 00026 //--------------------------------------------------------------------------- 00027 #if defined(_ENABLE_SENSORAY626_DEVICE_SUPPORT) 00028 //--------------------------------------------------------------------------- 00029 00030 //=========================================================================== 00038 //=========================================================================== 00039 00040 //=========================================================================== 00048 //=========================================================================== 00049 class cDriverSensoray626 : public cGenericDevice 00050 { 00051 public: 00052 00053 //----------------------------------------------------------------------- 00054 // CONSTRUCTOR & DESTRUCTOR: 00055 //----------------------------------------------------------------------- 00056 00058 cDriverSensoray626(); 00059 00061 ~cDriverSensoray626(); 00062 00063 00064 //----------------------------------------------------------------------- 00065 // METHODS: 00066 //----------------------------------------------------------------------- 00067 00069 int open(); 00070 00072 int close(); 00073 00075 int initialize(const bool a_resetEncoders=false); 00076 00090 int command(int iCommand, void* iData); 00091 00092 private: 00093 00094 //----------------------------------------------------------------------- 00095 // METHODS: 00096 //----------------------------------------------------------------------- 00097 00099 void encoderInit(); 00100 00101 //----------------------------------------------------------------------- 00102 // MEMBERS: 00103 //----------------------------------------------------------------------- 00104 00106 int m_boardHandle; 00107 00109 static int m_BOARD_NUM; 00110 00112 unsigned short m_wBaseAddress; 00113 00115 long homeposition[6]; 00116 }; 00117 00118 00119 //--------------------------------------------------------------------------- 00120 #endif 00121 //--------------------------------------------------------------------------- 00122 #endif //_ENABLE_SENSORAY626_DEVICE_SUPPORT 00123 //--------------------------------------------------------------------------- 00124