This has a lot more relevant information now. Anyway, this has been
tested on real hardware, and it appears to work pretty well. I am
considering changing the control loop so that it isn't always
operating on stale feedback (two LabJack calls per loop when actively
controlling pointing). Also the calibration routines need to be
implemented.
There are three commands: one to write the default config, one to write
the embedded udev rules file, and one to actually run the program.
I might reformat the help text at some point. It's not very nice as-is.
The Labjack API provided by ljacklm is, quite frankly, dog doodoo. I
say this as disrespectfully as possible. A lot of the API calls take
specific (implictly sized) arrays that must be 0-filled just so the
API can loop over them and fill them with a different number.
Everything parameter is either long or a float (and I think the use of
long is a carryover from the insane Win32 ABI where long is a 32 bit
integer rather than 64 bit, which it is on most Posix platforms). The
functions have a tendency to do 15 different things in a single call,
and most of the function parameters are out parameters or even better,
inout parameters. Some functions take arrays where other ones require
the user to manually bitpack an integer.
I've got the source for it right here and could rewrite it, but I don't
hate myself enough to do that. The API surface I need is minimal, so
I've just wrapped the parts I will be using. Ideally I will not need
to touch this again, but it does still need to be tested with actual
hardware, so we're not out of the woods yet.
