RbFirmataAnalogInput.cpp

// RbFirmataAnalogInput.cpp: implementation of the RbFirmataAnalogInput class.
//

#include "StdAfx.h"
#include <stdarg.h>
#include "RbMovableItem.h"
#include "RbBody.h"
#include "RbJoint.h"
#include "RbMotorizedJoint.h"
#include "RbHingeLimit.h"
#include "RbHinge.h"
#include "RbRigidBody.h"
#include "RbStructure.h"
#include "RbFirmataPart.h"
#include "RbFirmataAnalogInput.h"
#include "RbFirmataController.h"

namespace RoboticsAnimatSim
{
        namespace Robotics
        {
                namespace RobotIOControls
                {
                        namespace Firmata
                        {

// Construction/Destruction

RbFirmataAnalogInput::RbFirmataAnalogInput() 
{
}

RbFirmataAnalogInput::~RbFirmataAnalogInput()
{
}

void RbFirmataAnalogInput::SetupIO()
{
        if(!m_lpSim->InSimulation())
                m_lpFirmata->sendAnalogPinReporting(m_iIOComponentID, ARD_ANALOG);
}

void RbFirmataAnalogInput::StepIO(int iPartIdx)
{
        if(!m_lpSim->InSimulation())
        {
                int iValue = m_lpFirmata->getAnalog(m_iIOComponentID);
                if(iValue != -1 && m_iIOValue != iValue)
                {
                        //std::cout << "Analog In: " << iValue << "\r\n";

                        IOValue(iValue);
                        m_bChanged = true;
                }
        }
}

void RbFirmataAnalogInput::StepSimulation()
{
    RobotPartInterface::StepSimulation();

        if(m_bChanged)
        {
                m_bChanged = false;

                //Calculate the gain of the IO value.
                float fltValue = m_lpGain->CalculateGain(m_fltIOValue);

                if(fltValue >= 1)
                        fltValue = fltValue;

                //Remove any previously added value from the param
                *m_lpProperty -= m_fltIOScaledValue;

                m_fltIOScaledValue = fltValue;

                //Add the value back.
                *m_lpProperty += m_fltIOScaledValue;
        }
}

                        }       //Firmata
                }               //RobotIOControls
        }                       // Robotics
}                               //RoboticsAnimatSim