Ejemplo n.º 1
0
    // -- Sprオブジェクトの構築を行う
    public override ObjectIf Build()
    {
        if (hiSdk == null)
        {
            hiSdk = HISdkIf.CreateSdk();
        }

        DRCyUsb20Sh4Desc cyDesc = new DRCyUsb20Sh4Desc();

        for (int i = 0; i < 10; ++i)
        {
            cyDesc.channel = i;
            hiSdk.AddRealDevice(DRCyUsb20Sh4If.GetIfInfoStatic(), cyDesc);
        }

        var spg = hiSdk.CreateHumanInterface(HISpidarIf.GetIfInfoStatic());

        var d = new HISpidarDesc(); // do not use "desc"

        for (int i = 0; i < nMotors; i++)
        {
            var dM = new HISpidarMotorDesc();
            d.motors.push_back(dM);
        }
        spg.Init(d);
        spg.Calibration();

        return(spg);
    }
Ejemplo n.º 2
0
    // -- Sprオブジェクトの構築を行う
    public override ObjectIf Build()
    {
        if (hiSdk == null)
        {
            hiSdk = HISdkIf.CreateSdk();
        }

        DRCyUsb20Sh4Desc cyDesc = new DRCyUsb20Sh4Desc();

        for (int i = 0; i < 10; ++i)
        {
            cyDesc.channel = i;
            hiSdk.AddRealDevice(DRCyUsb20Sh4If.GetIfInfoStatic(), cyDesc);
        }

        var spg = hiSdk.CreateHumanInterface(HISpidarGIf.GetIfInfoStatic());

        var d = new HISpidarGDesc("SpidarG6X3R"); // do not use "desc"

        spg.Init(d);
        spg.Calibration();

        return(spg);
    }