diff options
Diffstat (limited to 'Java/com_phidgets_AdvancedServoPhidget.c')
| -rw-r--r-- | Java/com_phidgets_AdvancedServoPhidget.c | 66 |
1 files changed, 66 insertions, 0 deletions
diff --git a/Java/com_phidgets_AdvancedServoPhidget.c b/Java/com_phidgets_AdvancedServoPhidget.c new file mode 100644 index 0000000..960ce29 --- /dev/null +++ b/Java/com_phidgets_AdvancedServoPhidget.c @@ -0,0 +1,66 @@ +#include "../stdafx.h" +#include "phidget_jni.h" +#include "com_phidgets_AdvancedServoPhidget.h" +#include "../cphidgetadvancedservo.h" + +EVENT_VARS(servoPositionChange, ServoPositionChange) +EVENT_VARS(servoVelocityChange, ServoVelocityChange) +EVENT_VARS(currentChange, CurrentChange) + +JNI_LOAD(advservo, AdvancedServo) + EVENT_VAR_SETUP(advservo, servoPositionChange, ServoPositionChange, ID, V) + EVENT_VAR_SETUP(advservo, servoVelocityChange, ServoVelocityChange, ID, V) + EVENT_VAR_SETUP(advservo, currentChange, CurrentChange, ID, V) +} + +EVENT_HANDLER_INDEXED(AdvancedServo, servoPositionChange, ServoPositionChange, + CPhidgetAdvancedServo_set_OnPositionChange_Handler, double) +EVENT_HANDLER_INDEXED(AdvancedServo, servoVelocityChange, ServoVelocityChange, + CPhidgetAdvancedServo_set_OnVelocityChange_Handler, double) +EVENT_HANDLER_INDEXED(AdvancedServo, currentChange, CurrentChange, + CPhidgetAdvancedServo_set_OnCurrentChange_Handler, double) + +JNI_CREATE(AdvancedServo) +JNI_INDEXED_GETFUNC(AdvancedServo, Acceleration, Acceleration, jdouble) +JNI_INDEXED_SETFUNC(AdvancedServo, Acceleration, Acceleration, jdouble) +JNI_INDEXED_GETFUNC(AdvancedServo, AccelerationMin, AccelerationMin, jdouble) +JNI_INDEXED_GETFUNC(AdvancedServo, AccelerationMax, AccelerationMax, jdouble) +JNI_INDEXED_GETFUNC(AdvancedServo, VelocityLimit, VelocityLimit, jdouble) +JNI_INDEXED_SETFUNC(AdvancedServo, VelocityLimit, VelocityLimit, jdouble) +JNI_INDEXED_GETFUNC(AdvancedServo, Velocity, Velocity, jdouble) +JNI_INDEXED_GETFUNC(AdvancedServo, VelocityMin, VelocityMin, jdouble) +JNI_INDEXED_GETFUNC(AdvancedServo, VelocityMax, VelocityMax, jdouble) +JNI_INDEXED_GETFUNC(AdvancedServo, Position, Position, jdouble) +JNI_INDEXED_SETFUNC(AdvancedServo, Position, Position, jdouble) +JNI_INDEXED_GETFUNC(AdvancedServo, PositionMin, PositionMin, jdouble) +JNI_INDEXED_GETFUNC(AdvancedServo, PositionMax, PositionMax, jdouble) +JNI_INDEXED_SETFUNC(AdvancedServo, PositionMin, PositionMin, jdouble) +JNI_INDEXED_SETFUNC(AdvancedServo, PositionMax, PositionMax, jdouble) +JNI_INDEXED_GETFUNCBOOL(AdvancedServo, Engaged, Engaged) +JNI_INDEXED_SETFUNC(AdvancedServo, Engaged, Engaged, jboolean) +JNI_INDEXED_GETFUNCBOOL(AdvancedServo, Stopped, Stopped) +JNI_INDEXED_GETFUNCBOOL(AdvancedServo, SpeedRampingOn, SpeedRampingOn) +JNI_INDEXED_SETFUNC(AdvancedServo, SpeedRampingOn, SpeedRampingOn, jboolean) +JNI_INDEXED_GETFUNC(AdvancedServo, Current, Current, jdouble) +JNIEXPORT jint JNICALL +Java_com_phidgets_AdvancedServoPhidget_getServoType(JNIEnv *env, jobject obj, jint index) +{ + CPhidgetAdvancedServoHandle h = (CPhidgetAdvancedServoHandle)(uintptr_t) + (*env)->GetLongField(env, obj, handle_fid); + int error; + CPhidget_ServoType v; + if ((error = CPhidgetAdvancedServo_getServoType(h, index, &v))) + PH_THROW(error); + return (jint)v; +} +JNI_INDEXED_SETFUNC(AdvancedServo, ServoType, ServoType, jint) +JNIEXPORT void JNICALL +Java_com_phidgets_AdvancedServoPhidget_setServoParameters(JNIEnv *env, jobject obj, jint index, jdouble minUs, jdouble maxUs, jdouble degrees, jdouble velocityMax) +{ + CPhidgetAdvancedServoHandle h = (CPhidgetAdvancedServoHandle)(uintptr_t) + (*env)->GetLongField(env, obj, handle_fid); + int error; + if ((error = CPhidgetAdvancedServo_setServoParameters(h, index, minUs, maxUs, degrees, velocityMax))) + PH_THROW(error); +} +JNI_GETFUNC(AdvancedServo, MotorCount, MotorCount, jint) |