# cDriverSensoray626 Class Reference
[Devices]

cDriverSensoray626 offers an interface to the Sensoray 626 boards. More...

`#include <CDriverSensoray626.h>`

Inheritance diagram for cDriverSensoray626:

[legend]

List of all members.

## Public Member Functions
| cDriverSensoray626 ()
| Constructor of cDriverSensoray626.
| ~cDriverSensoray626 ()
| Destructor of cDriverSensoray626.
int | open ()
| Open connection to Sensoray626 board.
int | close ()
| Close connection to Sensoray626 board.
int | initialize (const bool a_resetEncoders=false)
| Initialize Sensoray626 board.
int | command (int iCommand, void *iData)

## Detailed Description

cDriverSensoray626 offers an interface to the Sensoray 626 boards.

## Member Function Documentation

int cDriverSensoray626::close | ( |  | ) | `[virtual]`

Close connection to Sensoray626 board.

Close connection to the board, write a zero value to all DACs.

Returns:
  Return 0 is operation succeeds, -1 if an error occurs.

Reimplemented from cGenericDevice.

int cDriverSensoray626::command | ( | int | a_command,
|  | void * | a_data |
| ) |  |  | `[virtual]`

Send a command to the Sensoray626 board possible commands are: CHAI_CMD_GET_DEVICE_STATE: returns an int (1 board is ready, 0 board is NOT ready) CHAI_CMD_GET_ENCODER_0: reads encoder 0, returns counts value in a long CHAI_CMD_GET_ENCODER_1: reads encoder 1, returns counts value in a long CHAI_CMD_GET_ENCODER_2: reads encoder 2, returns counts value in a long CHAI_CMD_GET_ENCODER_3: reads encoder 3, returns counts value in a long CHAI_CMD_GET_ENCODER_4: reads encoder 4, returns counts value in a long CHAI_CMD_GET_ENCODER_5: reads encoder 5, returns counts value in a long CHAI_CMD_SET_DAC_0: writes a voltage to DAC 0 a value between +10 and -10 volts, which is a double CHAI_CMD_SET_DAC_1: writes a voltage to DAC 1 a value between +10 and -10 volts, which is a double CHAI_CMD_SET_DAC_2: writes a voltage to DAC 2 a value between +10 and -10 volts, which is a double CHAI_CMD_SET_DAC_3: writes a voltage to DAC 3 a value between +10 and -10 volts, which is a double

Set command to the Sensoray626 board.

Parameters:

  | a_command | Selected command.
  | a_data | Pointer to the corresponding data structure.

Returns:
  Return status of command.

Reimplemented from cGenericDevice.

int cDriverSensoray626::initialize | ( | const bool | a_resetEncoders = `false` | ) | `[virtual]`

Initialize Sensoray626 board.

Initializes board. In this implementation there's really nothing to do that hasn't been done in the opening phase.

Parameters:

  | a_resetEncoders | Ignored; reserved for forward compatibility

Returns:
  Return 0 is operation succeeds, -1 if an error occurs.

Reimplemented from cGenericDevice.

int cDriverSensoray626::open | ( |  | ) | `[virtual]`

Open connection to Sensoray626 board.

Open connection to Sensoray board

Returns:
  Return 0 is operation succeeds, -1 if an error occurs.

Reimplemented from cGenericDevice.

The documentation for this class was generated from the following files:

- D:/CHAI3D/build-2-0-0/2.0.0/win32/src/devices/CDriverSensoray626.h
- D:/CHAI3D/build-2-0-0/2.0.0/win32/src/devices/CDriverSensoray626.cpp

CHAI3D 2.0.0 documentation
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