RbFirmataDigitalOutput.cpp

// RbFirmataDigitalOutput.cpp: implementation of the RbFirmataDigitalOutput 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 "RbFirmataDigitalOutput.h"
#include "RbFirmataController.h"

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

// Construction/Destruction

RbFirmataDigitalOutput::RbFirmataDigitalOutput() 
{
}

RbFirmataDigitalOutput::~RbFirmataDigitalOutput()
{
}

void RbFirmataDigitalOutput::SetupIO()
{
        if(!m_lpSim->InSimulation() && m_lpFirmata)
                m_lpFirmata->sendDigitalPinMode(m_iIOComponentID, ARD_OUTPUT);
}

void RbFirmataDigitalOutput::StepIO(int iPartIdx)
{
        if(!m_lpSim->InSimulation())
        {
                if(m_iIOValue != m_lpFirmata->getDigital(m_iIOComponentID))
                {
                        if(m_iIOValue)
                                std::cout << "Turning pin " << m_iIOComponentID << " ON." << "\r\n";
                        else
                                std::cout << "Turning pin " << m_iIOComponentID << " OFF." << "\r\n";

                        m_lpFirmata->sendDigital(m_iIOComponentID, m_iIOValue);
                }
        }
}

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

        //If it is associated with a part property then we need to get that value.
        //run it through the gain to transform it, round it out to int, and then
        //send it if the value has changed.
        if(m_lpProperty &&m_lpGain && m_lpFirmata)
        {
                m_fltIOScaledValue = m_lpGain->CalculateGain(*m_lpProperty);

                IOValue(0);
                if(m_fltIOScaledValue > 0.5f)
                        IOValue(1);
        }
}

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