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| author | Mike Turvey <mturvey6@gmail.com> | 2018-01-05 03:54:29 -0700 |
|---|---|---|
| committer | Mike Turvey <mturvey6@gmail.com> | 2018-01-05 03:54:29 -0700 |
| commit | 735a8bd11070b0c563e891ff8b70ce297a52a367 (patch) | |
| tree | 0907027c98ca28d2e13f1e66edd38135119946d5 /src/survive_process.c | |
| parent | 499b80ae7b538f8e66f5ec8bfa60c7136a3babf5 (diff) | |
| download | libsurvive-735a8bd11070b0c563e891ff8b70ce297a52a367.tar.gz libsurvive-735a8bd11070b0c563e891ff8b70ce297a52a367.tar.bz2 | |
Add standard output mechanism for posers
Added a raw pose output/ callback that the posers can
call when they have calculated a pose.
Diffstat (limited to 'src/survive_process.c')
| -rw-r--r-- | src/survive_process.c | 39 |
1 files changed, 30 insertions, 9 deletions
diff --git a/src/survive_process.c b/src/survive_process.c index 4b86144..42d2897 100644 --- a/src/survive_process.c +++ b/src/survive_process.c @@ -66,20 +66,34 @@ void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode void survive_default_button_process(SurviveObject * so, uint8_t eventType, uint8_t buttonId, uint8_t axis1Id, uint16_t axis1Val, uint8_t axis2Id, uint16_t axis2Val) { // do nothing. - //printf("ButtonEntry: eventType:%x, buttonId:%d, axis1:%d, axis1Val:%8.8x, axis2:%d, axis2Val:%8.8x\n", - // eventType, - // buttonId, - // axis1Id, - // axis1Val, - // axis2Id, - // axis2Val); + printf("ButtonEntry: eventType:%x, buttonId:%d, axis1:%d, axis1Val:%8.8x, axis2:%d, axis2Val:%8.8x\n", + eventType, + buttonId, + axis1Id, + axis1Val, + axis2Id, + axis2Val); if (buttonId == 24 && eventType == 1) // trigger engage { - for (int j = 0; j < 40; j++) + for (int j = 0; j < 6; j++) { - for (int i = 0; i < 0x1; i++) + for (int i = 0; i < 0x5; i++) { survive_haptic(so, 0, 0xf401, 0xb5a2, 0x0100); + //survive_haptic(so, 0, 0xf401, 0xb5a2, 0x0100); + OGUSleep(1000); + } + OGUSleep(20000); + } + } + if (buttonId == 2 && eventType == 1) // trigger engage + { + for (int j = 0; j < 6; j++) + { + for (int i = 0; i < 0x1; i++) + { + survive_haptic(so, 0, 0xf401, 0x05a2, 0xf100); + //survive_haptic(so, 0, 0xf401, 0xb5a2, 0x0100); OGUSleep(5000); } OGUSleep(20000); @@ -87,6 +101,13 @@ void survive_default_button_process(SurviveObject * so, uint8_t eventType, uint8 } } +void survive_default_raw_pose_process(SurviveObject * so, uint8_t lighthouse, FLT *pos, FLT *quat) +{ + // print the pose; + printf("Pose: [%2.2x][% 08.8f,% 08.8f,% 08.8f] [% 08.8f,% 08.8f,% 08.8f,% 08.8f]\n", lighthouse, pos[0], pos[1], pos[2], quat[0], quat[1], quat[2], quat[3]); + +} + void survive_default_imu_process( SurviveObject * so, int mask, FLT * accelgyromag, uint32_t timecode, int id ) { if( so->PoserFn ) |