20 #import <Foundation/Foundation.h>
21 #import "hidapi/hidapi.h"
23 #import "CBDeviceDelegate.h"
25 #define CBR_VENDOR_ID 0x04d8
26 #define CBR_PRODUCT_ID 0xfc8b
28 enum dataConditions { CB_NO_DATA, CB_HAS_DATA };
29 enum connectionConditions { CB_NOT_SENT, CB_SENT };
33 short m1Target, m2Target, m3Target, m4Target;
34 short m1Speed, m2Speed, m3Speed, m4Speed;
40 short m1Current, m2Current, m3Current, m4Current;
46 @interface CBDeviceConnection : NSObject {
48 hid_device *deviceHandle;
54 BOOL resetHomePositionFlag;
56 NSConditionLock *dataMutex;
57 NSConditionLock *connectionMutex;
61 @property (readonly, nonatomic) BOOL connected;
68 - (void)testConnection;
70 - (void)updateRobot:(
CBRobot *)robot;