static void Main(string[] args)
{
uint hHD = HDAPI.hdInitDevice(HDAPI.HD_DEFAULT_DEVICE);
error = HDAPI.hdGetError();
if (error.CheckedError())
{
Console.WriteLine("Device Initialize Failed..");
return;
}
//更新校准
//HDAPI.hdUpdateCalibration(HDCalibrationStyles.HD_CALIBRATION_INKWELL);
HDSchedulerCallback pCallback = AnchoredSpringForceHandler;
IntPtr deviceHHD = new IntPtr(hHD);
ulong pHandler = HDAPI.hdScheduleAsynchronous(pCallback, deviceHHD, HDSchedulerPriority.HD_MAX_SCHEDULER_PRIORITY);
//启用力输出功能
HDAPI.hdEnable(HDEDParameters.HD_FORCE_OUTPUT);
double maxStiffness = 0;
//查询设备能够处理的最大闭环控制刚度。使用超过这个限制的值可能会导致设备嗡嗡作响。
HDAPI.hdGetDoublev(HDGetParameters.HD_NOMINAL_MAX_STIFFNESS, ref maxStiffness);
HDAPI.hdStartScheduler();
error = HDAPI.hdGetError();
if (error.CheckedError())
{
Console.WriteLine("启动调度程序失败.");
Console.ReadKey();
return;
}
Console.WriteLine("按下 Button 1 开始，按上下键设置 force 值");
while (true)
{
ConsoleKeyInfo key = Console.ReadKey(true);
if (key.Key == ConsoleKey.DownArrow)
{
gSpringStiffness -= 0.05;
if (gSpringStiffness <= 0)
{
gSpringStiffness = 0.00;
}
Console.WriteLine("gSpringStiffness:{0}", gSpringStiffness);
}
else if (key.Key == ConsoleKey.UpArrow)
{
gSpringStiffness += 0.05;
if (gSpringStiffness >= maxStiffness)
{
gSpringStiffness = maxStiffness;
}
Console.WriteLine("gSpringStiffness:{0}", gSpringStiffness);
}
}
HDAPI.hdStopScheduler();
HDAPI.hdUnschedule(pHandler);
HDAPI.hdDisableDevice(hHD);
}
public static extern ulong hdScheduleAsynchronous(HDSchedulerCallback pCallback, IntPtr pUserData, HDSchedulerPriority nPriority);
static void Main(string[] args)
{
hHD = HDAPI.hdInitDevice(null);
error = HDAPI.hdGetError();
if (error.CheckedError())
{
Console.WriteLine("Init Error.");
Console.ReadKey();
return;
}
//获取支持的校准样式，因为一些设备可能支持多种类型的校准
HDAPI.hdGetIntegerv(HDGetParameters.HD_CALIBRATION_STYLE, ref supportedCalibrationStyles);
Console.WriteLine("supportedCalibrationStyles:{0} {1}", supportedCalibrationStyles,
Enum.GetName(typeof(HDCalibrationStyles), supportedCalibrationStyles));
//使用墨水池校准
HDAPI.hdUpdateCalibration(HDCalibrationStyles.HD_CALIBRATION_INKWELL);
//启动 Servo Loop
HDAPI.hdStartScheduler();
#if 直接获取坐标位置输出
double[] pPosition = new double[3];
int buttons = 0;
while (true)
{
if (HDAPI.hdCheckCalibration() == HDCalibrationCodes.HD_CALIBRATION_NEEDS_UPDATE)
{
HDAPI.hdUpdateCalibration(HDCalibrationStyles.HD_CALIBRATION_INKWELL);
}
HDAPI.hdBeginFrame(hHD);
HDAPI.hdGetDoublev(HDGetParameters.HD_CURRENT_POSITION, pPosition);
HDAPI.hdGetIntegerv(HDGetParameters.HD_CURRENT_BUTTONS, ref buttons);
HDAPI.hdEndFrame(hHD);
Console.WriteLine("Button Status:Btn1:{0} Btn2:{1} Btn3:{2} Btn4:{3}",
buttons & (int)HDButtonMasks.HD_DEVICE_BUTTON_1,
buttons & (int)HDButtonMasks.HD_DEVICE_BUTTON_2,
buttons & (int)HDButtonMasks.HD_DEVICE_BUTTON_3,
buttons & (int)HDButtonMasks.HD_DEVICE_BUTTON_4);
Console.WriteLine("Position: X:{0} Y:{1} Z:{2}", pPosition[0], pPosition[1], pPosition[2]);
Thread.Sleep(100);
}
#endif
#if 使用调度器同步输出位置
PositionSynchronous = GetSyncPos;
Vector3D v3 = new Vector3D();
v3.HHD = hHD;
IntPtr pPosition = OHUtils.StructToIntPtr(v3);
while (true)
{
HDAPI.hdScheduleSynchronous(PositionSynchronous, pPosition, HDSchedulerPriority.HD_DEFAULT_SCHEDULER_PRIORITY);
v3 = OHUtils.IntPtrToStruct <Vector3D>(pPosition);
Console.WriteLine("Position: X:{0} Y:{1} Z:{2}", v3.X, v3.Y, v3.Z);
//Sleep一下，不然打印的数据太多，看不清，实际项目是不需要的
//Thread.Sleep(100);
}
#endif
//停止 Servo Loop
HDAPI.hdStopScheduler();
//禁用设备
HDAPI.hdDisableDevice(hHD);
Console.ReadKey();
return;
}
