phidgets 0.1.3 → 1.0.0

data/ext/phidgets/phidgets_led.c

@@ -1,178 +0,0 @@
-
-#include "phidgets.h"
-
-
-VALUE ph_led_init(VALUE self);
-VALUE ph_led_get_led_count(VALUE self);
-VALUE ph_led_get_current_limit(VALUE self);
-VALUE ph_led_set_current_limit(VALUE self, VALUE limit);
-VALUE ph_led_get_voltage(VALUE self);
-VALUE ph_led_set_voltage(VALUE self, VALUE voltage);
-VALUE ph_led_get_brightness(VALUE self, VALUE index);
-VALUE ph_led_set_brightness(VALUE self, VALUE index, VALUE brightness);
-VALUE ph_led_get_current_limit_indexed(VALUE self, VALUE index);
-VALUE ph_led_set_current_limit_indexed(VALUE self, VALUE index, VALUE limit);
-
-
-void Init_led() {
-  VALUE ph_module = rb_const_get(rb_cObject, rb_intern("Phidgets"));
-  VALUE ph_common = rb_const_get(ph_module, rb_intern("Common"));
-  VALUE ph_led = rb_define_class_under(ph_module, "LED", ph_common);
-
-  rb_define_const(ph_led, "CURRENT_LIMIT_20mA", INT2FIX(PHIDGET_LED_CURRENT_LIMIT_20mA));
-  rb_define_const(ph_led, "CURRENT_LIMIT_40mA", INT2FIX(PHIDGET_LED_CURRENT_LIMIT_40mA));
-  rb_define_const(ph_led, "CURRENT_LIMIT_60mA", INT2FIX(PHIDGET_LED_CURRENT_LIMIT_60mA));
-  rb_define_const(ph_led, "CURRENT_LIMIT_80mA", INT2FIX(PHIDGET_LED_CURRENT_LIMIT_80mA));
-  rb_define_const(ph_led, "VOLTAGE_1_7V", INT2FIX(PHIDGET_LED_VOLTAGE_1_7V));
-  rb_define_const(ph_led, "VOLTAGE_2_75V", INT2FIX(PHIDGET_LED_VOLTAGE_2_75V));
-  rb_define_const(ph_led, "VOLTAGE_3_9V", INT2FIX(PHIDGET_LED_VOLTAGE_3_9V));
-  rb_define_const(ph_led, "VOLTAGE_5_0V", INT2FIX(PHIDGET_LED_VOLTAGE_5_0V));
-
-  /* Document-method: new
-   * call-seq: new
-   *
-   * Creates a Phidget LED object.
-   */
-  rb_define_method(ph_led, "initialize", ph_led_init, 0);
-
-  /* Document-method: getLEDCount
-   * call-seq: getLEDCount -> count
-   *
-   * Gets the number of LEDs supported by this board.
-   */
-  rb_define_method(ph_led, "getLEDCount", ph_led_get_led_count, 0);
-
-  /* Document-method: getCurrentLimit
-   * call-seq: getCurrentLimit -> limit
-   *
-   * Gets the current limit. This is for all ouputs.
-   */
-  rb_define_method(ph_led, "getCurrentLimit", ph_led_get_current_limit, 0);
-
-  /* Document-method: setCurrentLimit
-   * call-seq: setCurrentLimit(limit)
-   *
-   * Sets the current limit. This is for all ouputs.
-   */
-  rb_define_method(ph_led, "setCurrentLimit", ph_led_set_current_limit, 1);
-
-  /* Document-method: getVoltage
-   * call-seq: getVoltage -> voltage
-   *
-   * Gets the output voltage. This is for all ouputs.
-   */
-  rb_define_method(ph_led, "getVoltage", ph_led_get_voltage, 0);
-
-  /* Document-method: setVoltage
-   * call-seq: setVoltage(voltage)
-   *
-   * Sets the output voltage. This is for all ouputs.
-   */
-  rb_define_method(ph_led, "setVoltage", ph_led_set_voltage, 1);
-
-  /* Document-method: getBrightness
-   * call-seq: getBrightness(index) -> brightness
-   *
-   * Gets the brightness of an LED.
-   */
-  rb_define_method(ph_led, "getBrightness", ph_led_get_brightness, 1);
-
-  /* Document-method: setBrightness
-   * call-seq: setBrightness(index, brightness)
-   *
-   * Sets the brightness of an LED.
-   */
-  rb_define_method(ph_led, "setBrightness", ph_led_set_brightness, 2);
-
-  /* Document-method: getCurrentLimitIndexed
-   * call-seq: getCurrentLimitIndexed(index) -> limit
-   *
-   * Gets the current limit of an LED.
-   */
-  rb_define_method(ph_led, "getCurrentLimitIndexed", ph_led_get_current_limit_indexed, 1);
-
-  /* Document-method: setCurrentLimitIndexed
-   * call-seq: setCurrentLimitIndexed(index, limit)
-   *
-   * Sets the current limit of an LED.
-   */
-  rb_define_method(ph_led, "setCurrentLimitIndexed", ph_led_set_current_limit_indexed, 2);
-
-  rb_define_alias(ph_led, "led_count", "getLEDCount");
-  rb_define_alias(ph_led, "current_limit", "getCurrentLimit");
-  rb_define_alias(ph_led, "current_limit=", "setCurrentLimit");
-  rb_define_alias(ph_led, "voltage", "getVoltage");
-  rb_define_alias(ph_led, "voltage=", "setVoltage");
-  rb_define_alias(ph_led, "brightness", "getBrightness");
-  rb_define_alias(ph_led, "set_brightness", "setBrightness");
-  rb_define_alias(ph_led, "current_limit_indexed", "getCurrentLimitIndexed");
-  rb_define_alias(ph_led, "set_current_limit_indexed", "setCurrentLimitIndexed");
-}
-
-
-
-VALUE ph_led_init(VALUE self) {
-  ph_data_t *ph = get_ph_data(self);
-  ph_raise(CPhidgetLED_create((CPhidgetLEDHandle *)(&(ph->handle))));
-  return self;
-}
-
-VALUE ph_led_get_led_count(VALUE self) {
-  CPhidgetLEDHandle handle = (CPhidgetLEDHandle)get_ph_handle(self);
-  int count;
-  ph_raise(CPhidgetLED_getLEDCount(handle, &count));
-  return INT2FIX(count);
-}
-
-VALUE ph_led_get_current_limit(VALUE self) {
-  CPhidgetLEDHandle handle = (CPhidgetLEDHandle)get_ph_handle(self);
-  CPhidgetLED_CurrentLimit limit;
-  ph_raise(CPhidgetLED_getCurrentLimit(handle, &limit));
-  return INT2FIX(limit);
-}
-
-VALUE ph_led_set_current_limit(VALUE self, VALUE limit) {
-  CPhidgetLEDHandle handle = (CPhidgetLEDHandle)get_ph_handle(self);
-  ph_raise(CPhidgetLED_setCurrentLimit(handle, FIX2INT(limit)));
-  return Qnil;
-}
-
-VALUE ph_led_get_voltage(VALUE self) {
-  CPhidgetLEDHandle handle = (CPhidgetLEDHandle)get_ph_handle(self);
-  CPhidgetLED_Voltage voltage;
-  ph_raise(CPhidgetLED_getVoltage(handle, &voltage));
-  return INT2FIX(voltage);
-}
-
-VALUE ph_led_set_voltage(VALUE self, VALUE voltage) {
-  CPhidgetLEDHandle handle = (CPhidgetLEDHandle)get_ph_handle(self);
-  ph_raise(CPhidgetLED_setVoltage(handle, FIX2INT(voltage)));
-  return Qnil;
-}
-
-VALUE ph_led_get_brightness(VALUE self, VALUE index) {
-  CPhidgetLEDHandle handle = (CPhidgetLEDHandle)get_ph_handle(self);
-  double brightness;
-  ph_raise(CPhidgetLED_getBrightness(handle, FIX2INT(index), &brightness));
-  return rb_float_new(brightness);
-}
-
-VALUE ph_led_set_brightness(VALUE self, VALUE index, VALUE brightness) {
-  CPhidgetLEDHandle handle = (CPhidgetLEDHandle)get_ph_handle(self);
-  ph_raise(CPhidgetLED_setBrightness(handle, FIX2INT(index), NUM2DBL(brightness)));
-  return Qnil;
-}
-
-VALUE ph_led_get_current_limit_indexed(VALUE self, VALUE index) {
-  CPhidgetLEDHandle handle = (CPhidgetLEDHandle)get_ph_handle(self);
-  double limit;
-  ph_raise(CPhidgetLED_getCurrentLimitIndexed(handle, FIX2INT(index), &limit));
-  return rb_float_new(limit);
-}
-
-VALUE ph_led_set_current_limit_indexed(VALUE self, VALUE index, VALUE limit) {
-  CPhidgetLEDHandle handle = (CPhidgetLEDHandle)get_ph_handle(self);
-  ph_raise(CPhidgetLED_setCurrentLimitIndexed(handle, FIX2INT(index), NUM2DBL(limit)));
-  return Qnil;
-}
-

data/ext/phidgets/phidgets_motor_control.c

@@ -1,642 +0,0 @@
-
-#include "phidgets.h"
-
-
-VALUE ph_motor_init(VALUE self);
-VALUE ph_motor_get_motor_count(VALUE self);
-VALUE ph_motor_get_velocity(VALUE self, VALUE index);
-VALUE ph_motor_set_velocity(VALUE self, VALUE index, VALUE velocity);
-VALUE ph_motor_get_acceleration(VALUE self, VALUE index);
-VALUE ph_motor_get_acceleration_min(VALUE self, VALUE index);
-VALUE ph_motor_get_acceleration_max(VALUE self, VALUE index);
-VALUE ph_motor_set_acceleration(VALUE self, VALUE index, VALUE accel);
-VALUE ph_motor_get_current(VALUE self, VALUE index);
-VALUE ph_motor_get_input_count(VALUE self);
-VALUE ph_motor_get_input_state(VALUE self, VALUE index);
-VALUE ph_motor_get_encoder_count(VALUE self);
-VALUE ph_motor_get_encoder_position(VALUE self, VALUE index);
-VALUE ph_motor_set_encoder_position(VALUE self, VALUE index, VALUE position);
-VALUE ph_motor_get_back_emf(VALUE self, VALUE index);
-VALUE ph_motor_get_back_emf_sensing_state(VALUE self, VALUE index);
-VALUE ph_motor_set_back_emf_sensing_state(VALUE self, VALUE index, VALUE state);
-VALUE ph_motor_get_supply_voltage(VALUE self);
-VALUE ph_motor_get_braking(VALUE self, VALUE index);
-VALUE ph_motor_set_braking(VALUE self, VALUE index, VALUE braking);
-VALUE ph_motor_get_sensor_count(VALUE self);
-VALUE ph_motor_get_sensor_value(VALUE self, VALUE index);
-VALUE ph_motor_get_sensor_raw_value(VALUE self, VALUE index);
-VALUE ph_motor_get_ratiometric(VALUE self);
-VALUE ph_motor_set_ratiometric(VALUE self, VALUE ratiometric);
-
-#ifdef PH_CALLBACK
-VALUE ph_motor_set_on_velocity_change_handler(VALUE self, VALUE handler);
-VALUE ph_motor_set_on_current_change_handler(VALUE self, VALUE handler);
-VALUE ph_motor_set_on_current_update_handler(VALUE self, VALUE handler);
-VALUE ph_motor_set_on_input_change_handler(VALUE self, VALUE handler);
-VALUE ph_motor_set_on_encoder_position_change_handler(VALUE self, VALUE handler);
-VALUE ph_motor_set_on_encoder_position_update_handler(VALUE self, VALUE handler);
-VALUE ph_motor_set_on_back_emf_update_handler(VALUE self, VALUE handler);
-VALUE ph_motor_set_on_sensor_update_handler(VALUE self, VALUE handler);
-int ph_motor_on_velocity_change(CPhidgetMotorControlHandle phid, void *userPtr, int index, double velocity);
-int ph_motor_on_current_change(CPhidgetMotorControlHandle phid, void *userPtr, int index, double current);
-int ph_motor_on_current_update(CPhidgetMotorControlHandle phid, void *userPtr, int index, double current);
-int ph_motor_on_input_change(CPhidgetMotorControlHandle phid, void *userPtr, int index, int state);
-int ph_motor_on_encoder_position_change(CPhidgetMotorControlHandle phid, void *userPtr, int index, int time, int change);
-int ph_motor_on_encoder_position_update(CPhidgetMotorControlHandle phid, void *userPtr, int index, int change);
-int ph_motor_on_back_emf_update(CPhidgetMotorControlHandle phid, void *userPtr, int index, double voltage);
-int ph_motor_on_sensor_update(CPhidgetMotorControlHandle phid, void *userPtr, int index, int value);
-#endif
-
-
-void Init_motor_control() {
-  VALUE ph_module = rb_const_get(rb_cObject, rb_intern("Phidgets"));
-  VALUE ph_common = rb_const_get(ph_module, rb_intern("Common"));
-  VALUE ph_motor = rb_define_class_under(ph_module, "MotorControl", ph_common);
-
-  /* Document-method: new
-   * call-seq: new
-   *
-   * Creates a Phidget MotorControl object.
-   */
-  rb_define_method(ph_motor, "initialize", ph_motor_init, 0);
-
-  /* Document-method: getMotorCount
-   * call-seq: getMotorCount -> count
-   *
-   * Gets the number of motors supported by this controller.
-   */
-  rb_define_method(ph_motor, "getMotorCount", ph_motor_get_motor_count, 0);
-
-  /* Document-method: getVelocity
-   * call-seq: getVelocity(index) -> velocity
-   *
-   * Gets the current velocity of a motor.
-   */
-  rb_define_method(ph_motor, "getVelocity", ph_motor_get_velocity, 1);
-
-  /* Document-method: setVelocity
-   * call-seq: setVelocity(index, velocity)
-   *
-   * Sets the velocity of a motor.
-   */
-  rb_define_method(ph_motor, "setVelocity", ph_motor_set_velocity, 2);
-
-  /* Document-method: getAcceleration
-   * call-seq: getAcceleration(index) -> acceleration
-   *
-   * Gets the last set acceleration of a motor.
-   */
-  rb_define_method(ph_motor, "getAcceleration", ph_motor_get_acceleration, 1);
-
-  /* Document-method: getAccelerationMin
-   * call-seq: getAccelerationMin(index) -> acceleration
-   *
-   * Gets the minimum acceleration supported by a motor.
-   */
-  rb_define_method(ph_motor, "getAccelerationMin", ph_motor_get_acceleration_min, 1);
-
-  /* Document-method: getAccelerationMax
-   * call-seq: getAccelerationMax(index) -> acceleration
-   *
-   * Gets the maximum acceleration supported by a motor
-   */
-  rb_define_method(ph_motor, "getAccelerationMax", ph_motor_get_acceleration_max, 1);
-
-  /* Document-method: setAcceleration
-   * call-seq: setAcceleration(index, acceleration)
-   *
-   * Sets the acceleration of a motor.
-   */
-  rb_define_method(ph_motor, "setAcceleration", ph_motor_set_acceleration, 2);
-
-  /* Document-method: getCurrent
-   * call-seq: getCurrent(index) -> current
-   *
-   * Gets the current current draw for a motor.
-   */
-  rb_define_method(ph_motor, "getCurrent", ph_motor_get_current, 1);
-
-  /* Document-method: getInputCount
-   * call-seq: getInputCount -> count
-   *
-   * Gets the number of digital inputs supported by this board.
-   */
-  rb_define_method(ph_motor, "getInputCount", ph_motor_get_input_count, 0);
-
-  /* Document-method: getInputState
-   * call-seq: getInputState(index) -> true or false
-   *
-   * Gets the state of a digital input.
-   */
-  rb_define_method(ph_motor, "getInputState", ph_motor_get_input_state, 1);
-
-  /* Document-method: getEncoderCount
-   * call-seq: getEncoderCount -> count
-   *
-   * Gets the number of encoder inputs supported by this board.
-   */
-  rb_define_method(ph_motor, "getEncoderCount", ph_motor_get_encoder_count, 0);
-
-  /* Document-method: getEncoderPosition
-   * call-seq: getEncoderPosition(index) -> position
-   *
-   * Gets the position of an encoder. This position starts at 0 every time the phidget is opened.
-   */
-  rb_define_method(ph_motor, "getEncoderPosition", ph_motor_get_encoder_position, 1);
-
-  /* Document-method: setEncoderPosition
-   * call-seq: setEncoderPosition(index, position)
-   *
-   * Sets the encoder position. This can be used to set the position to a known value,
-   * and should only be called when the encoder is not moving.
-   */
-  rb_define_method(ph_motor, "setEncoderPosition", ph_motor_set_encoder_position, 2);
-
-  /* Document-method: getBackEMF
-   * call-seq: getBackEMF(index) -> voltage
-   *
-   * Gets the Back EMF voltage for a motor.
-   */
-  rb_define_method(ph_motor, "getBackEMF", ph_motor_get_back_emf, 1);
-
-  /* Document-method: getBackEMFSensingState
-   * call-seq: getBackEMFSensingState(index) -> true or false
-   *
-   * Gets the Back EMF sensing state for a motor.
-   */
-  rb_define_method(ph_motor, "getBackEMFSensingState", ph_motor_get_back_emf_sensing_state, 1);
-
-  /* Document-method: setBackEMFSensingState
-   * call-seq: setBackEMFSensingState(index, state)
-   *
-   * Sets the Back EMF sensing state for a motor.
-   */
-  rb_define_method(ph_motor, "setBackEMFSensingState", ph_motor_set_back_emf_sensing_state, 2);
-
-  /* Document-method: getSupplyVoltage
-   * call-seq: getSupplyVoltage -> voltage
-   *
-   * Gets the Supply voltage for the motors. This could be higher then the actual supply voltage.
-   */
-  rb_define_method(ph_motor, "getSupplyVoltage", ph_motor_get_supply_voltage, 0);
-
-  /* Document-method: getBraking
-   * call-seq: getBraking(index) -> braking
-   *
-   * Gets the Braking value for a motor.
-   */
-  rb_define_method(ph_motor, "getBraking", ph_motor_get_braking, 1);
-
-  /* Document-method: setBraking
-   * call-seq: setBraking(index, braking)
-   *
-   * Sets the Braking value for a motor. This is applied when velocity is 0. Default is 0%.
-   */
-  rb_define_method(ph_motor, "setBraking", ph_motor_set_braking, 2);
-
-  /* Document-method: getSensorCount
-   * call-seq: getSensorCount -> count
-   *
-   * Gets the number of sensor inputs supported by this board.
-   */
-  rb_define_method(ph_motor, "getSensorCount", ph_motor_get_sensor_count, 0);
-
-  /* Document-method: getSensorValue
-   * call-seq: getSensorValue(index) -> value
-   *
-   * Gets the value of a sensor.
-   */
-  rb_define_method(ph_motor, "getSensorValue", ph_motor_get_sensor_value, 1);
-
-  /* Document-method: getSensorRawValue
-   * call-seq: getSensorRawValue(index) -> value
-   *
-   * Gets the raw value of a sensor (12-bit).
-   */
-  rb_define_method(ph_motor, "getSensorRawValue", ph_motor_get_sensor_raw_value, 1);
-
-  /* Document-method: getRatiometric
-   * call-seq: getRatiometric -> true or false
-   *
-   * Gets the ratiometric state.
-   */
-  rb_define_method(ph_motor, "getRatiometric", ph_motor_get_ratiometric, 0);
-
-  /* Document-method: setRatiometric
-   * call-seq: setRatiometric(state)
-   *
-   * Sets the ratiometric state. This controls the voltage reference used for sampling the analog sensors.
-   */
-  rb_define_method(ph_motor, "setRatiometric", ph_motor_set_ratiometric, 1);
-
-#ifdef PH_CALLBACK
-  rb_define_private_method(ph_motor, "ext_setOnVelocityChangeHandler", ph_motor_set_on_velocity_change_handler, 1);
-  rb_define_private_method(ph_motor, "ext_setOnCurrentChangeHandler", ph_motor_set_on_velocity_change_handler, 1);
-  rb_define_private_method(ph_motor, "ext_setOnCurrentUpdateHandler", ph_motor_set_on_velocity_change_handler, 1);
-  rb_define_private_method(ph_motor, "ext_setOnInputChangeHandler", ph_motor_set_on_velocity_change_handler, 1);
-  rb_define_private_method(ph_motor, "ext_setOnEncoderPositionChangeHandler", ph_motor_set_on_velocity_change_handler, 1);
-  rb_define_private_method(ph_motor, "ext_setOnEncoderPositionUpdateHandler", ph_motor_set_on_velocity_change_handler, 1);
-  rb_define_private_method(ph_motor, "ext_setOnBackEMFUpdateHandler", ph_motor_set_on_velocity_change_handler, 1);
-  rb_define_private_method(ph_motor, "ext_setOnSensorUpdateHandler", ph_motor_set_on_velocity_change_handler, 1);
-#endif
-
-  rb_define_alias(ph_motor, "motor_count", "getMotorCount");
-  rb_define_alias(ph_motor, "velocity", "getVelocity");
-  rb_define_alias(ph_motor, "set_velocity", "setVelocity");
-  rb_define_alias(ph_motor, "acceleration", "getAcceleration");
-  rb_define_alias(ph_motor, "acceleration_min", "getAccelerationMin");
-  rb_define_alias(ph_motor, "acceleration_max", "getAccelerationMax");
-  rb_define_alias(ph_motor, "set_acceleration", "setAcceleration");
-  rb_define_alias(ph_motor, "current", "getCurrent");
-  rb_define_alias(ph_motor, "input_count", "getInputCount");
-  rb_define_alias(ph_motor, "input_state", "getInputState");
-  rb_define_alias(ph_motor, "encoder_count", "getEncoderCount");
-  rb_define_alias(ph_motor, "encoder_position", "getEncoderPosition");
-  rb_define_alias(ph_motor, "set_encoder_position", "setEncoderPosition");
-  rb_define_alias(ph_motor, "back_emf", "getBackEMF");
-  rb_define_alias(ph_motor, "back_emf_sensing_state", "getBackEMFSensingState");
-  rb_define_alias(ph_motor, "set_back_emf_sensing_state", "setBackEMFSensingState");
-  rb_define_alias(ph_motor, "supply_voltage", "getSupplyVoltage");
-  rb_define_alias(ph_motor, "braking", "getBraking");
-  rb_define_alias(ph_motor, "set_braking", "setBraking");
-  rb_define_alias(ph_motor, "sensor_count", "getSensorCount");
-  rb_define_alias(ph_motor, "sensor_value", "getSensorValue");
-  rb_define_alias(ph_motor, "sensor_raw_value", "getSensorRawValue");
-  rb_define_alias(ph_motor, "ratiometric?", "getRatiometric");
-  rb_define_alias(ph_motor, "ratiometric=", "setRatiometric");
-}
-
-
-
-VALUE ph_motor_init(VALUE self) {
-  ph_data_t *ph = get_ph_data(self);
-  ph_raise(CPhidgetMotorControl_create((CPhidgetMotorControlHandle *)(&(ph->handle))));
-  return self;
-}
-
-VALUE ph_motor_get_motor_count(VALUE self) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  int count;
-  ph_raise(CPhidgetMotorControl_getMotorCount(handle, &count));
-  return INT2FIX(count);
-}
-
-VALUE ph_motor_get_velocity(VALUE self, VALUE index) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  double velocity;
-  ph_raise(CPhidgetMotorControl_getVelocity(handle, FIX2INT(index), &velocity));
-  return rb_float_new(velocity);
-}
-
-VALUE ph_motor_set_velocity(VALUE self, VALUE index, VALUE velocity) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  ph_raise(CPhidgetMotorControl_setVelocity(handle, FIX2INT(index), NUM2DBL(velocity)));
-  return Qnil;
-}
-
-VALUE ph_motor_get_acceleration(VALUE self, VALUE index) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  double accel;
-  ph_raise(CPhidgetMotorControl_getAcceleration(handle, FIX2INT(index), &accel));
-  return rb_float_new(accel);
-}
-
-VALUE ph_motor_get_acceleration_min(VALUE self, VALUE index) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  double accel;
-  ph_raise(CPhidgetMotorControl_getAccelerationMin(handle, FIX2INT(index), &accel));
-  return rb_float_new(accel);
-}
-
-VALUE ph_motor_get_acceleration_max(VALUE self, VALUE index) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  double accel;
-  ph_raise(CPhidgetMotorControl_getAccelerationMax(handle, FIX2INT(index), &accel));
-  return rb_float_new(accel);
-}
-
-VALUE ph_motor_set_acceleration(VALUE self, VALUE index, VALUE accel) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  ph_raise(CPhidgetMotorControl_setAcceleration(handle, FIX2INT(index), NUM2DBL(accel)));
-  return Qnil;
-}
-
-VALUE ph_motor_get_current(VALUE self, VALUE index) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  double current;
-  ph_raise(CPhidgetMotorControl_getCurrent(handle, FIX2INT(index), &current));
-  return rb_float_new(current);
-}
-
-VALUE ph_motor_get_input_count(VALUE self) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  int count;
-  ph_raise(CPhidgetMotorControl_getInputCount(handle, &count));
-  return INT2FIX(count);
-}
-
-VALUE ph_motor_get_input_state(VALUE self, VALUE index) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  int state;
-  ph_raise(CPhidgetMotorControl_getInputState(handle, FIX2INT(index), &state));
-  return state == PTRUE ? Qtrue : Qfalse;
-}
-
-VALUE ph_motor_get_encoder_count(VALUE self) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  int count;
-  ph_raise(CPhidgetMotorControl_getEncoderCount(handle, &count));
-  return INT2FIX(count);
-}
-
-VALUE ph_motor_get_encoder_position(VALUE self, VALUE index) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  int position;
-  ph_raise(CPhidgetMotorControl_getEncoderPosition(handle, FIX2INT(index), &position));
-  return INT2FIX(position);
-}
-
-VALUE ph_motor_set_encoder_position(VALUE self, VALUE index, VALUE position) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  ph_raise(CPhidgetMotorControl_setEncoderPosition(handle, FIX2INT(index), FIX2INT(position)));
-  return Qnil;
-}
-
-VALUE ph_motor_get_back_emf(VALUE self, VALUE index) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  double voltage;
-  ph_raise(CPhidgetMotorControl_getBackEMF(handle, FIX2INT(index), &voltage));
-  return rb_float_new(voltage);
-}
-
-VALUE ph_motor_get_back_emf_sensing_state(VALUE self, VALUE index) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  int state;
-  ph_raise(CPhidgetMotorControl_getBackEMFSensingState(handle, FIX2INT(index), &state));
-  return state == PTRUE ? Qtrue : Qfalse;
-}
-
-VALUE ph_motor_set_back_emf_sensing_state(VALUE self, VALUE index, VALUE state) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  ph_raise(CPhidgetMotorControl_setBackEMFSensingState(handle, FIX2INT(index), TYPE(state) == T_TRUE ? PTRUE : PFALSE));
-  return Qnil;
-}
-
-VALUE ph_motor_get_supply_voltage(VALUE self) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  double voltage;
-  ph_raise(CPhidgetMotorControl_getSupplyVoltage(handle, &voltage));
-  return rb_float_new(voltage);
-}
-
-VALUE ph_motor_get_braking(VALUE self, VALUE index) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  double braking;
-  ph_raise(CPhidgetMotorControl_getBraking(handle, FIX2INT(index), &braking));
-  return rb_float_new(braking);
-}
-
-VALUE ph_motor_set_braking(VALUE self, VALUE index, VALUE braking) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  ph_raise(CPhidgetMotorControl_setBraking(handle, FIX2INT(index), NUM2DBL(braking)));
-  return Qnil;
-}
-
-VALUE ph_motor_get_sensor_count(VALUE self) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  int count;
-  ph_raise(CPhidgetMotorControl_getSensorCount(handle, &count));
-  return INT2FIX(count);
-}
-
-VALUE ph_motor_get_sensor_value(VALUE self, VALUE index) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  int value;
-  ph_raise(CPhidgetMotorControl_getSensorValue(handle, FIX2INT(index), &value));
-  return INT2FIX(value);
-}
-
-VALUE ph_motor_get_sensor_raw_value(VALUE self, VALUE index) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  int value;
-  ph_raise(CPhidgetMotorControl_getSensorRawValue(handle, FIX2INT(index), &value));
-  return INT2FIX(value);
-}
-
-VALUE ph_motor_get_ratiometric(VALUE self) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  int ratiometric;
-  ph_raise(CPhidgetMotorControl_getRatiometric(handle, &ratiometric));
-  return ratiometric == PTRUE ? Qtrue : Qfalse;
-}
-
-VALUE ph_motor_set_ratiometric(VALUE self, VALUE ratiometric) {
-  CPhidgetMotorControlHandle handle = (CPhidgetMotorControlHandle)get_ph_handle(self);
-  ph_raise(CPhidgetMotorControl_setRatiometric(handle, TYPE(ratiometric) == T_TRUE ? PTRUE : PFALSE));
-  return Qnil;
-}
-
-
-
-#ifdef PH_CALLBACK
-VALUE ph_motor_set_on_velocity_change_handler(VALUE self, VALUE handler) {
-  ph_data_t *ph = get_ph_data(self);
-  ph_callback_data_t *callback_data = &ph->dev_callback_1;
-  if( TYPE(handler) == T_NIL ) {
-    callback_data->exit = true;
-    ph_raise(CPhidgetMotorControl_set_OnVelocityChange_Handler((CPhidgetMotorControlHandle)ph->handle, NULL, (void *)NULL));
-  } else {
-    callback_data->called = false;
-    callback_data->exit = false;
-    callback_data->phidget = self;
-    callback_data->callback = handler;
-    ph_raise(CPhidgetMotorControl_set_OnVelocityChange_Handler((CPhidgetMotorControlHandle)ph->handle, ph_motor_on_velocity_change, (void *)callback_data));
-    ph_callback_thread(callback_data);
-  }
-  return Qnil;
-}
-
-
-VALUE ph_motor_set_on_current_change_handler(VALUE self, VALUE handler) {
-  ph_data_t *ph = get_ph_data(self);
-  ph_callback_data_t *callback_data = &ph->dev_callback_2;
-  if( TYPE(handler) == T_NIL ) {
-    callback_data->exit = true;
-    ph_raise(CPhidgetMotorControl_set_OnCurrentChange_Handler((CPhidgetMotorControlHandle)ph->handle, NULL, (void *)NULL));
-  } else {
-    callback_data->called = false;
-    callback_data->exit = false;
-    callback_data->phidget = self;
-    callback_data->callback = handler;
-    ph_raise(CPhidgetMotorControl_set_OnCurrentChange_Handler((CPhidgetMotorControlHandle)ph->handle, ph_motor_on_current_change, (void *)callback_data));
-    ph_callback_thread(callback_data);
-  }
-  return Qnil;
-}
-
-
-VALUE ph_motor_set_on_current_update_handler(VALUE self, VALUE handler) {
-  ph_data_t *ph = get_ph_data(self);
-  ph_callback_data_t *callback_data = &ph->dev_callback_3;
-  if( TYPE(handler) == T_NIL ) {
-    callback_data->exit = true;
-    ph_raise(CPhidgetMotorControl_set_OnCurrentUpdate_Handler((CPhidgetMotorControlHandle)ph->handle, NULL, (void *)NULL));
-  } else {
-    callback_data->called = false;
-    callback_data->exit = false;
-    callback_data->phidget = self;
-    callback_data->callback = handler;
-    ph_raise(CPhidgetMotorControl_set_OnCurrentUpdate_Handler((CPhidgetMotorControlHandle)ph->handle, ph_motor_on_current_update, (void *)callback_data));
-    ph_callback_thread(callback_data);
-  }
-  return Qnil;
-}
-
-
-VALUE ph_motor_set_on_input_change_handler(VALUE self, VALUE handler) {
-  ph_data_t *ph = get_ph_data(self);
-  ph_callback_data_t *callback_data = &ph->dev_callback_4;
-  if( TYPE(handler) == T_NIL ) {
-    callback_data->exit = true;
-    ph_raise(CPhidgetMotorControl_set_OnInputChange_Handler((CPhidgetMotorControlHandle)ph->handle, NULL, (void *)NULL));
-  } else {
-    callback_data->called = false;
-    callback_data->exit = false;
-    callback_data->phidget = self;
-    callback_data->callback = handler;
-    ph_raise(CPhidgetMotorControl_set_OnInputChange_Handler((CPhidgetMotorControlHandle)ph->handle, ph_motor_on_input_change, (void *)callback_data));
-    ph_callback_thread(callback_data);
-  }
-  return Qnil;
-}
-
-
-VALUE ph_motor_set_on_encoder_position_change_handler(VALUE self, VALUE handler) {
-  ph_data_t *ph = get_ph_data(self);
-  ph_callback_data_t *callback_data = &ph->dev_callback_5;
-  if( TYPE(handler) == T_NIL ) {
-    callback_data->exit = true;
-    ph_raise(CPhidgetMotorControl_set_OnEncoderPositionChange_Handler((CPhidgetMotorControlHandle)ph->handle, NULL, (void *)NULL));
-  } else {
-    callback_data->called = false;
-    callback_data->exit = false;
-    callback_data->phidget = self;
-    callback_data->callback = handler;
-    ph_raise(CPhidgetMotorControl_set_OnEncoderPositionChange_Handler((CPhidgetMotorControlHandle)ph->handle, ph_motor_on_encoder_position_change, (void *)callback_data));
-    ph_callback_thread(callback_data);
-  }
-  return Qnil;
-}
-
-
-VALUE ph_motor_set_on_encoder_position_update_handler(VALUE self, VALUE handler) {
-  ph_data_t *ph = get_ph_data(self);
-  ph_callback_data_t *callback_data = &ph->dev_callback_6;
-  if( TYPE(handler) == T_NIL ) {
-    callback_data->exit = true;
-    ph_raise(CPhidgetMotorControl_set_OnEncoderPositionUpdate_Handler((CPhidgetMotorControlHandle)ph->handle, NULL, (void *)NULL));
-  } else {
-    callback_data->called = false;
-    callback_data->exit = false;
-    callback_data->phidget = self;
-    callback_data->callback = handler;
-    ph_raise(CPhidgetMotorControl_set_OnEncoderPositionUpdate_Handler((CPhidgetMotorControlHandle)ph->handle, ph_motor_on_encoder_position_update, (void *)callback_data));
-    ph_callback_thread(callback_data);
-  }
-  return Qnil;
-}
-
-
-VALUE ph_motor_set_on_back_emf_update_handler(VALUE self, VALUE handler) {
-  ph_data_t *ph = get_ph_data(self);
-  ph_callback_data_t *callback_data = &ph->dev_callback_7;
-  if( TYPE(handler) == T_NIL ) {
-    callback_data->exit = true;
-    ph_raise(CPhidgetMotorControl_set_OnBackEMFUpdate_Handler((CPhidgetMotorControlHandle)ph->handle, NULL, (void *)NULL));
-  } else {
-    callback_data->called = false;
-    callback_data->exit = false;
-    callback_data->phidget = self;
-    callback_data->callback = handler;
-    ph_raise(CPhidgetMotorControl_set_OnBackEMFUpdate_Handler((CPhidgetMotorControlHandle)ph->handle, ph_motor_on_back_emf_update, (void *)callback_data));
-    ph_callback_thread(callback_data);
-  }
-  return Qnil;
-}
-
-
-VALUE ph_motor_set_on_sensor_update_handler(VALUE self, VALUE handler) {
-  ph_data_t *ph = get_ph_data(self);
-  ph_callback_data_t *callback_data = &ph->dev_callback_8;
-  if( TYPE(handler) == T_NIL ) {
-    callback_data->exit = true;
-    ph_raise(CPhidgetMotorControl_set_OnSensorUpdate_Handler((CPhidgetMotorControlHandle)ph->handle, NULL, (void *)NULL));
-  } else {
-    callback_data->called = false;
-    callback_data->exit = false;
-    callback_data->phidget = self;
-    callback_data->callback = handler;
-    ph_raise(CPhidgetMotorControl_set_OnSensorUpdate_Handler((CPhidgetMotorControlHandle)ph->handle, ph_motor_on_sensor_update, (void *)callback_data));
-    ph_callback_thread(callback_data);
-  }
-  return Qnil;
-}
-
-
-int ph_motor_on_velocity_change(CPhidgetMotorControlHandle phid, void *userPtr, int index, double velocity) {
-  ph_callback_data_t *callback_data = ((ph_callback_data_t *)userPtr);
-  callback_data->called = true;
-  return EPHIDGET_OK;
-}
-
-
-int ph_motor_on_current_change(CPhidgetMotorControlHandle phid, void *userPtr, int index, double current) {
-  ph_callback_data_t *callback_data = ((ph_callback_data_t *)userPtr);
-  callback_data->called = true;
-  return EPHIDGET_OK;
-}
-
-
-int ph_motor_on_current_update(CPhidgetMotorControlHandle phid, void *userPtr, int index, double current) {
-  ph_callback_data_t *callback_data = ((ph_callback_data_t *)userPtr);
-  callback_data->called = true;
-  return EPHIDGET_OK;
-}
-
-
-int ph_motor_on_input_change(CPhidgetMotorControlHandle phid, void *userPtr, int index, int state) {
-  ph_callback_data_t *callback_data = ((ph_callback_data_t *)userPtr);
-  callback_data->called = true;
-  return EPHIDGET_OK;
-}
-
-
-int ph_motor_on_encoder_position_change(CPhidgetMotorControlHandle phid, void *userPtr, int index, int time, int change) {
-  ph_callback_data_t *callback_data = ((ph_callback_data_t *)userPtr);
-  callback_data->called = true;
-  return EPHIDGET_OK;
-}
-
-
-int ph_motor_on_encoder_position_update(CPhidgetMotorControlHandle phid, void *userPtr, int index, int change) {
-  ph_callback_data_t *callback_data = ((ph_callback_data_t *)userPtr);
-  callback_data->called = true;
-  return EPHIDGET_OK;
-}
-
-
-int ph_motor_on_back_emf_update(CPhidgetMotorControlHandle phid, void *userPtr, int index, double voltage) {
-  ph_callback_data_t *callback_data = ((ph_callback_data_t *)userPtr);
-  callback_data->called = true;
-  return EPHIDGET_OK;
-}
-
-
-int ph_motor_on_sensor_update(CPhidgetMotorControlHandle phid, void *userPtr, int index, int value) {
-  ph_callback_data_t *callback_data = ((ph_callback_data_t *)userPtr);
-  callback_data->called = true;
-  return EPHIDGET_OK;
-}
-
-#endif
-