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; }