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#ifndef __INCLUDED_PHIDGETS_QUADSERVO_H__
#define __INCLUDED_PHIDGETS_QUADSERVO_H__
#include <phidgets/servomotor.h>
#include <phidgets/phidgets.h>
typedef enum PhidgetQuadServoSelector_t {
PHIDGET_QUADSERVO_MOTOR0 = 0,
PHIDGET_QUADSERVO_MOTOR1 = 1,
PHIDGET_QUADSERVO_MOTOR2 = 2,
PHIDGET_QUADSERVO_MOTOR3 = 3
} PhidgetQuadServoSelector;
typedef struct PhidgetQuadServo_t {
Phidget* phidget;
PhidgetServoMotor servos[4];
} PhidgetQuadServo;
#ifdef __cplusplus
extern "C" {
#endif
PhidgetQuadServo* phidget_new_PhidgetQuadServo();
void phidget_delete_PhidgetQuadServo(PhidgetQuadServo** const qsc);
void phidget_reset_PhidgetQuadServo(PhidgetQuadServo* const qsc);
phidget_return phidget_quadservo_open(PhidgetQuadServo* const qsc,
unsigned int serial, unsigned short retries);
phidget_return phidget_quadservo_close(PhidgetQuadServo* const qsc);
bool phidget_quadservo_is_opened(PhidgetQuadServo const* const qsc);
phidget_return phidget_quadservo_set_servo_parameters(PhidgetQuadServo* const qsc,
PhidgetQuadServoSelector const servo, unsigned short const min,
unsigned short const max, float const factor);
phidget_return phidget_quadservo_set_single_position(PhidgetQuadServo* const qsc,
PhidgetQuadServoSelector const servo, unsigned int const position);
phidget_return phidget_quadservo_set_all_positions(PhidgetQuadServo* const qsc,
unsigned int const p0, unsigned int const p1, unsigned int const p2,
unsigned int const p3);
#ifdef __cplusplus
}
#endif
#endif // __INCLUDED_PHIDGETS_QUADSERVO_H__
/* COPYRIGHT --
*
* This file is part of libphidgets, a user-space library for phidgets.
* libphidgets is (c) 2003-2005 Martin F. Krafft <krafft@ailab.ch>
* and distributed under the terms of the Artistic Licence.
* See the ./COPYING file in the source tree root for more information.
*
* THIS PACKAGE IS PROVIDED "AS IS" AND WITHOUT ANY EXPRESS OR IMPLIED
* WARRANTIES, INCLUDING, WITHOUT LIMITATION, THE IMPLIED WARRANTIES
* OF MERCHANTIBILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*/
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