static void Main(string[] args)
{
uint hHD = HDAPI.hdInitDevice(null);
HDAPI.hdEnable(HDEDParameters.HD_FORCE_OUTPUT);
HDAPI.hdStartScheduler();
HDErrorInfo error = HDAPI.hdGetError();
if (error.CheckedError())
{
Console.WriteLine("Start Scheduler Failed.");
Console.ReadKey();
return;
}
ulong pHandler = HDAPI.hdScheduleAsynchronous(FrictionlessSphereCallback, IntPtr.Zero, HDSchedulerPriority.HD_DEFAULT_SCHEDULER_PRIORITY);
while (true)
{
if (HDAPI.hdWaitForCompletion(pHandler, HDWaitCode.HD_WAIT_CHECK_STATUS) == 0x00)
{
Console.WriteLine("主回调器退出。");
Console.ReadKey();
return;
}
}
HDAPI.hdStopScheduler();
HDAPI.hdUnschedule(pHandler);
HDAPI.hdDisableDevice(hHD);
}
static void Main(string[] args)
{
uint hHD = HDAPI.hdInitDevice("Default Device");
error = HDAPI.hdGetError();
if (error.CheckedError())
{
Console.WriteLine("Device Initialize Failed..");
Console.ReadKey();
return;
}
//HDSchedulerCallback pCallback = GravityWellCallback;
ulong gravityWell = HDAPI.hdScheduleAsynchronous(GravityWellCallback, IntPtr.Zero, HDSchedulerPriority.HD_MAX_SCHEDULER_PRIORITY);
HDAPI.hdEnable(HDEDParameters.HD_FORCE_OUTPUT);
HDAPI.hdStartScheduler();
error = HDAPI.hdGetError();
if (error.CheckedError())
{
Console.WriteLine("Start Scheduler Failed..");
Console.ReadKey();
return;
}
while (true)
{
ConsoleKeyInfo key = Console.ReadKey();
if (key.Key == ConsoleKey.DownArrow)
{
InForce = true;
Console.WriteLine("In Force:{0}", true);
}
else if (key.Key == ConsoleKey.UpArrow)
{
InForce = false;
Console.WriteLine("Out Force:{0}", false);
}
if (HDAPI.hdWaitForCompletion(gravityWell, HDWaitCode.HD_WAIT_CHECK_STATUS) == 0x00)
{
Console.WriteLine("Ready quit..");
Console.ReadKey();
break;
}
}
HDAPI.hdStopScheduler();
HDAPI.hdUnschedule(gravityWell);
HDAPI.hdDisableDevice(hHD);
}
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);
}