phantom_control.cpp File Reference

Reteives data and commands feedback to the Phantom Omni. More...

#include <phantom_control/omni.h>
#include <phantom_control/conio.h>
#include <sys/types.h>
#include <unistd.h>
#include <stdlib.h>
#include <haptic_force/Force.h>
#include <phantom_control/State.h>

Include dependency graph for phantom_control.cpp:

Go to the source code of this file.

Functions
void	ee_convert (void)
void	ForceCallBk (const haptic_force::Force &force)
hduVector3Dd	g_home_pos (HOME_XX, HOME_YY, HOME_ZZ)
void	HHD_Auto_Calibration (void)
int	main (int argc, char **argv)
HDCallbackCode HDCALLBACK	MonitorCallback (void *pUserData)
void	SetHomePos (void)

Variables
bool	g_new =0
phantom_control::State	g_SS
HDSchedulerHandle	gCallbackHandle = 0
OmniState	state

Detailed Description

Reteives data and commands feedback to the Phantom Omni.

Author

Emílio Estrelinha nº 38637 (emili.nosp@m.o.es.nosp@m.treli.nosp@m.nha@.nosp@m.ua.pt)

Definition in file phantom_control.cpp.

Function Documentation

void ee_convert

(

void

)

Function to get/convert the HHD lib vars to ROS vars

Parameters

void

Returns

void

Definition at line 177 of file phantom_control.cpp.

void ForceCallBk

(

const haptic_force::Force &

force

)

Definition at line 224 of file phantom_control.cpp.

hduVector3Dd g_home_pos	(	HOME_XX	,
		HOME_YY	,
		HOME_ZZ
	)

void HHD_Auto_Calibration

(

void

)

Automatic Calibration of Phantom Device - No character inputs

Parameters

void

Returns

void

Definition at line 237 of file phantom_control.cpp.

int main	(	int	argc,
		char **	argv
	)

Main

Definition at line 64 of file phantom_control.cpp.

HDCallbackCode HDCALLBACK MonitorCallback

(

void *

pUserData

)

Gets Phantom current state of device and sets the force feedback

Parameters

pUserData

: var to access program data

Returns

HDCallbackCode : see HHD ref lib

Definition at line 280 of file phantom_control.cpp.

void SetHomePos

(

void

)

Function to send tip of device to HOME_POSITION

Parameters

void

Returns

void

Definition at line 343 of file phantom_control.cpp.

Variable Documentation

bool g_new =0

Definition at line 46 of file phantom_control.cpp.

phantom_control::State g_SS

Definition at line 47 of file phantom_control.cpp.

HDSchedulerHandle gCallbackHandle = 0

Definition at line 44 of file phantom_control.cpp.

OmniState state

Definition at line 45 of file phantom_control.cpp.