3.6.0
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;
}