3.9.1
single_device.cpp
Simple example of single-device programming.
#include <stdio.h>
#include "
dhdc.h
"
int
main (
int
argc,
char
**argv)
{
int
done = 0;
// get device count
if
(
dhdGetDeviceCount
() <= 0) {
printf (
"error: no device found (%s)\n"
,
dhdErrorGetLastStr
());
return
0;
}
// open the first available device
if
(
dhdOpen
() < 0) {
printf (
"error: %s\n"
,
dhdErrorGetLastStr
());
}
// haptic loop
while
(!done) {
// apply a null force to put the device in gravity compensation
if
(
dhdSetForce
(0.0, 0.0, 0.0) < 0) {
printf (
"error: %s\n"
,
dhdErrorGetLastStr
());
done = 1;
}
// detect button click to quit the haptic loop
if
(
dhdGetButton
(0)) {
printf (
"exiting...\n"
);
done = 1;
}
}
// close the connection to the device
if
(
dhdClose
() < 0) {
printf (
"error: %s\n"
,
dhdErrorGetLastStr
());
}
return
0;
}
Haptic SDK 3.9.1 documentation
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