TODO: use dhdEmulateButton()

[tpoignonec]

Roadmap for this feature:

• add a parameter such as emulate_button
• use dhdEmulateButton() to actually implement this
• investigate interaction with force control (does the emulation manages the clutching force ?)

Relevant SDK documentation sample:

dhdEmulateButton()

int __SDK dhdEmulateButton (uchar val, char ID)

Note

This feature only applies to the following devices:

• DHD_DEVICE_OMEGA7_RIGHT
• DHD_DEVICE_OMEGA7_LEFT
• DHD_DEVICE_SIGMA7_RIGHT
• DHD_DEVICE_SIGMA7_LEFT
• DHD_DEVICE_LAMBDA7_RIGHT
• DHD_DEVICE_LAMBDA7_LEFT

For omega.7 devices with firmware versions 2.x, forces need to be enabled for the button emulation to report the emulated button status.

Returns

0 on success, -1 otherwise.
See error management for details.

Examples

constraints.cpp, hold.cpp, jacobian.cpp, segment.cpp, teleoperation.cpp, torus.cpp, and transformations.cpp.

dhdEmulateButton() int __SDK dhdEmulateButton ( uchar val, char ID )

This function enables the button behavior emulation in devices that feature a gripper.

Parameters
val DHD_ON to emulate button behavior, DHD_OFF to disable it
ID [default=-1] device ID (see multiple devices section for details)

Note
This feature only applies to the following devices:

    [DHD_DEVICE_OMEGA7_RIGHT](file:///home/tpoignonec/dev/ros2_workspaces/ros2-jazzy/ws_general_vic_stack/build/fd_sdk_vendor/_deps/fd_sdk_binaries-src/doc/dhd/dhdc_8h.html#aef60e87f36e5ef5074fbe82150b05c17)
    [DHD_DEVICE_OMEGA7_LEFT](file:///home/tpoignonec/dev/ros2_workspaces/ros2-jazzy/ws_general_vic_stack/build/fd_sdk_vendor/_deps/fd_sdk_binaries-src/doc/dhd/dhdc_8h.html#ad041467ee724f4b09cf7084ac0493f18)
    [DHD_DEVICE_SIGMA7_RIGHT](file:///home/tpoignonec/dev/ros2_workspaces/ros2-jazzy/ws_general_vic_stack/build/fd_sdk_vendor/_deps/fd_sdk_binaries-src/doc/dhd/dhdc_8h.html#a74b68cf5b1c7230f40b253bc62247191)
    [DHD_DEVICE_SIGMA7_LEFT](file:///home/tpoignonec/dev/ros2_workspaces/ros2-jazzy/ws_general_vic_stack/build/fd_sdk_vendor/_deps/fd_sdk_binaries-src/doc/dhd/dhdc_8h.html#adb7a4c32a6bfc45f02c734789a94e320)
    [DHD_DEVICE_LAMBDA7_RIGHT](file:///home/tpoignonec/dev/ros2_workspaces/ros2-jazzy/ws_general_vic_stack/build/fd_sdk_vendor/_deps/fd_sdk_binaries-src/doc/dhd/dhdc_8h.html#a2e60840515e3d7a63591d85dc1737191)
    [DHD_DEVICE_LAMBDA7_LEFT](file:///home/tpoignonec/dev/ros2_workspaces/ros2-jazzy/ws_general_vic_stack/build/fd_sdk_vendor/_deps/fd_sdk_binaries-src/doc/dhd/dhdc_8h.html#a4fe701dd8f96b3bd4e9f1a2ed0cd5e11)

For omega.7 devices with firmware versions 2.x, forces need to be enabled for the button emulation to report the emulated button status.

Returns
0 on success, -1 otherwise.
See error management for details.

Examples
constraints.cpp, hold.cpp, jacobian.cpp, segment.cpp, teleoperation.cpp, torus.cpp, and transformations.cpp.