From 661fc09eaa1c1d4657a784b23d828c06355f8018 Mon Sep 17 00:00:00 2001 From: Axel Kohlmeyer Date: Wed, 7 Apr 2010 13:26:47 -0400 Subject: [PATCH 1/2] small rewrite of the sphere example with a few changes in the behavior that make it more easy to use. --- examples/falcon_test_cli/FalconSphereTest.cpp | 30 +++++++++++++++++------- 1 files changed, 21 insertions(+), 9 deletions(-) diff --git a/examples/falcon_test_cli/FalconSphereTest.cpp b/examples/falcon_test_cli/FalconSphereTest.cpp index 6312558..9c62c74 100644 --- a/examples/falcon_test_cli/FalconSphereTest.cpp +++ b/examples/falcon_test_cli/FalconSphereTest.cpp @@ -75,23 +75,35 @@ void FalconSphereTest::runFunction() return; } - // make sphere soft radius if(m_falconDevice->getFalconGrip()->getDigitalInputs() - & libnifalcon::FalconGripFourButton::BUTTON_3) + & libnifalcon::FalconGripFourButton::BUTTON_2) { - m_stiffness = 100.0; + m_forwardButtonDown = true; } else{ - m_stiffness = 1000.0; + m_forwardButtonDown = false; } - - // make sphere soft sticky + // make sphere soft radius or "slippery" if(m_falconDevice->getFalconGrip()->getDigitalInputs() - & libnifalcon::FalconGripFourButton::BUTTON_2) + & libnifalcon::FalconGripFourButton::BUTTON_3) { - m_forwardButtonDown = true; + if(m_forwardButtonDown) + { + m_stiffness = -300.0; + } + else + { + m_stiffness = 1000.0; + } } else{ - m_forwardButtonDown = false; + if(m_forwardButtonDown) + { + m_stiffness = 500.0; + } + else + { + m_stiffness = 100.0; + } } -- 1.6.6.1