test.cpp

#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <stdio.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include "jr3pci-ioctl.h"

int main(void) {
	six_axis_array fm;
	force_array fs;
	int ret,i,fd;
	
	if ((fd=open("/dev/jr3",O_RDWR)) < 0) {
		perror("Can't open device. No way to read force!");
	}
	
	ret=ioctl(fd,IOCTL0_JR3_GET_FULL_SCALES,&fs);
	printf("Full scales are %d %d %d %d %d %d\n",fs.f[0],fs.f[1],fs.f[2],fs.m[0],fs.m[1],fs.m[2]);
	ret=ioctl(fd,IOCTL0_JR3_ZEROOFFS);
	ret=ioctl(fd,IOCTL0_JR3_FILTER0,&fm);
	
	if (ret!=-1) {
		for (i=0;i<3;i++) {
			printf("%d\n",(short)fm.f[i]*fs.f[i]/16384);
		}
		for (i=0;i<3;i++) {
			printf("%d\n",(short)fm.m[i]*fs.m[i]/16384);
		}
	} else
		perror("");

	close(fd);
}