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# CGenericDevice.h File Reference

The following constants define a set of generic commands supported by the cGenericDevice:command method. For each generic command, we describe the data type and information that must be passed by parameter for 'iIndex' and 'iData'. 'iCommand' contains of course the command number corresponding to the following list of command constants. More...

`#include "CCallback.h"`

## Classes
class | cGenericDevice
| cGenericDevice describes a virtual class from which all devices and hardware interfaces are derived. More...
## Variables
const int | CHAI_CMD_GET_DEVICE_STATE = 1010
const int | CHAI_CMD_GET_ENCODER_0 = 1020
const int | CHAI_CMD_RESET_ENCODER_0 = 1040
const int | CHAI_CMD_SET_DAC_0 = 1030
const int | CHAI_CMD_GET_POS_3D = 2000
const int | CHAI_CMD_GET_POS_NORM_3D = 2001
const int | CHAI_CMD_GET_VEL_3D = 2002
const int | CHAI_CMD_SET_FORCE_3D = 2010
const int | CHAI_CMD_SET_FORCE_NORM_3D = 2011
const int | CHAI_CMD_SET_FORCE_TORQUE_3D = 2012
const int | CHAI_CMD_GET_ROT_ANGLES = 2020
const int | CHAI_CMD_GET_ROT_MATRIX = 2021
const int | CHAI_CMD_SET_TORQUE_3D = 2030
const int | CHAI_CMD_GET_SWITCH_0 = 2041
const int | CHAI_CMD_GET_NORMALIZED_SCALE_FACTOR = 2045
const int | CHAI_MSG_OK = 0
| The following constants define the possible return values of the method cGenericDevice:: command().

## Detailed Description

The following constants define a set of generic commands supported by the cGenericDevice:command method. For each generic command, we describe the data type and information that must be passed by parameter for 'iIndex' and 'iData'. 'iCommand' contains of course the command number corresponding to the following list of command constants.

## Variable Documentation

const int CHAI_CMD_GET_DEVICE_STATE = 1010

Purpose: Query device to check if is operating correctly. iData: integer type value. 1 means device is ok 0 means device is not ready.

const int CHAI_CMD_GET_ENCODER_0 = 1020

Purpose: Read the value of an encoder N. iData: integer type value.

const int CHAI_CMD_GET_NORMALIZED_SCALE_FACTOR = 2045

Purpose: Get the scale factor from normalized coordinates to mm iData: double scale factor... mm = scale * normalized_coords

const int CHAI_CMD_GET_POS_3D = 2000

Purpose: Read position (px, py, pz) in _millimeters_ of 3d point contact device. iData: cVector3d type value.

const int CHAI_CMD_GET_POS_NORM_3D = 2001

Purpose: Read normalized position (px, py, pz) of 3d point contact device. typically the value of each component of the vector position will be included in the interval [-1,1], accounting for the maximum usable workspace of the device. iData: cVector3d type value.

const int CHAI_CMD_GET_ROT_ANGLES = 2020

Purpose: Read orientation angles (ax, ay, az) of a 3d wrist or stylus. iData: cVector3d type value.

const int CHAI_CMD_GET_ROT_MATRIX = 2021

Purpose: Read orientation matrix of a 3d wrist or stylus. iData: cMatrix3d type value.

const int CHAI_CMD_GET_SWITCH_0 = 2041

Purpose: Read status of user switch. iData: Integer type value.

const int CHAI_CMD_GET_VEL_3D = 2002

Purpose: Read velocity (vx, vy, vz) of 3d point contact device in millimeters/s. iData: cVector3d type value.

const int CHAI_CMD_RESET_ENCODER_0 = 1040

Purpose: Reset the value of an encoder N. iData: integer type value.

const int CHAI_CMD_SET_DAC_0 = 1030

Purpose: Set value to a DAC. iData: integer type value.

const int CHAI_CMD_SET_FORCE_3D = 2010

Purpose: Set a force (fx, fy, fz) to a 3d point contact device (in Newtons). iData: cVector3d type value.

const int CHAI_CMD_SET_FORCE_NORM_3D = 2011

Purpose: Set a normalized force (fx, fy, fz) to a 3d point contact device. A normalized force has a maximum length of 1.0 corresponding to the highest force that the device can generate. iData: cVector3d type value.

const int CHAI_CMD_SET_FORCE_TORQUE_3D = 2012

Purpose: Set a force (fx, fy, fz) and a torque (tx, ty, tz) to a 6d point contact device. iData: array of 2 cVector3d type value. Units are N and N*mm.

const int CHAI_CMD_SET_TORQUE_3D = 2030

Purpose: Set a torque (tx, ty, tz) to a 3d wrist or stylus. iData: cVector3d type value. Units are N*mm.