Last change
on this file since 167 was
167,
checked in by (none), 14 years ago
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Simeo: added final project and also older proof of concept code.
We used Git for version control, so look at the Git repo
in SIMEO/Simeo/ for more info.
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File size:
716 bytes
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1 | #include <stdio.h> |
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2 | #include "SensorProvider.h" |
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3 | |
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4 | |
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5 | SensorProvider::SensorProvider(Channel *chan, btHingeConstraint *joint, int orient) |
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6 | : XProvider(chan) |
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7 | { |
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8 | m_joint = joint; |
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9 | m_orient = orient; |
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10 | } |
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11 | |
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12 | SensorProvider::~SensorProvider() |
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13 | { |
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14 | } |
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15 | |
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16 | btHingeConstraint *SensorProvider::getConstraint() |
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17 | { |
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18 | return m_joint; |
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19 | } |
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20 | |
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21 | int SensorProvider::getOrient() |
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22 | { |
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23 | return m_orient; |
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24 | } |
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25 | |
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26 | void SensorProvider::updatePre() |
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27 | { |
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28 | float angle = m_joint->getHingeAngle(); |
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29 | m_chan->write(&angle, MPI_FLOAT, 1); |
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30 | } |
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31 | |
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32 | void SensorProvider::packData(channelData *data, int id) |
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33 | { |
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34 | data->angle = m_joint->getHingeAngle(); |
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35 | data->maxAngle = m_joint->getUpperLimit(); |
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36 | data->minAngle = m_joint->getLowerLimit(); |
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37 | data->orient = m_orient; |
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38 | data->type = SENSOR; |
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39 | } |
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