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#include <phidgets/quadservo.h>
#include <stdio.h>
#include <math.h>
#include <signal.h>
static bool running = true;
void stop(int x)
{
running = false;
}
int main(void)
{
phidget_set_debug_stream(stderr);
phidget_set_debug(PHIDGET_DEBUG_ALL);
hid_set_debug_stream(stderr);
hid_set_debug(HID_DEBUG_NONE);
hid_set_usb_debug(0);
phidget_return ret = phidget_init();
PhidgetQuadServo* qsc1 = phidget_new_PhidgetQuadServo();
PhidgetQuadServo* qsc2 = phidget_new_PhidgetQuadServo();
PhidgetQuadServo* qsc3 = phidget_new_PhidgetQuadServo();
ret = phidget_quadservo_open(qsc1, 1483, 3);
ret = phidget_quadservo_open(qsc2, 1529, 3);
ret = phidget_quadservo_open(qsc3, 1518, 3);
phidget_quadservo_set_servo_parameters(qsc1, PHIDGET_QUADSERVO_MOTOR0, 650, 2370, 10.6);
phidget_quadservo_set_servo_parameters(qsc1, PHIDGET_QUADSERVO_MOTOR1, 1460, 1950, 10.6);
phidget_quadservo_set_servo_parameters(qsc1, PHIDGET_QUADSERVO_MOTOR2, 990, 2320, 10.6);
phidget_quadservo_set_servo_parameters(qsc1, PHIDGET_QUADSERVO_MOTOR3, 1370, 2120, 10.6);
phidget_quadservo_set_servo_parameters(qsc2, PHIDGET_QUADSERVO_MOTOR0, 1010, 1980, 10.6);
phidget_quadservo_set_servo_parameters(qsc2, PHIDGET_QUADSERVO_MOTOR1, 1400, 1810, 10.6);
phidget_quadservo_set_servo_parameters(qsc2, PHIDGET_QUADSERVO_MOTOR2, 790, 1900, 10.6);
phidget_quadservo_set_servo_parameters(qsc2, PHIDGET_QUADSERVO_MOTOR3, 1460, 1950, 10.6);
phidget_quadservo_set_servo_parameters(qsc3, PHIDGET_QUADSERVO_MOTOR0, 790, 2090, 10.6);
phidget_quadservo_set_servo_parameters(qsc3, PHIDGET_QUADSERVO_MOTOR1, 1290, 2560, 10.6);
phidget_quadservo_set_servo_parameters(qsc3, PHIDGET_QUADSERVO_MOTOR2, 1340, 2250, 10.6);
signal(2, stop);
char ch = 0;
double i;
while (running)
{
unsigned int pos = 0x0;
phidget_quadservo_set_all_positions(qsc1, pos, pos, pos, pos);
phidget_quadservo_set_all_positions(qsc2, pos, pos, pos, pos);
getchar();
pos = 0xffffffff;
phidget_quadservo_set_all_positions(qsc1, pos, pos, pos, pos);
phidget_quadservo_set_all_positions(qsc2, pos, pos, pos, pos);
getchar();
}
ret = phidget_quadservo_close(qsc1);
ret = phidget_quadservo_close(qsc2);
ret = phidget_quadservo_close(qsc3);
phidget_delete_PhidgetQuadServo(&qsc1);
phidget_delete_PhidgetQuadServo(&qsc2);
phidget_delete_PhidgetQuadServo(&qsc3);
ret = phidget_cleanup();
return 0;
}
/* 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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