src/libYARP_dev/galil/qnx6/yarp/YARPGalilDeviceDriver.cpp
int
YARPGalilDeviceDriver::find_index()
{
	int rc = 0;
	char *buff = m_buffer_out;

	buff = _append_cmd((char) 0xA5, buff);		//FI
	buff = _append_cmd((char) 0x00, buff);		//00 no data fields
	buff = _append_cmd((char) 0x00, buff);		//00 no coordinated movement
	buff = _append_cmd((char) 0x00, buff);		//00 for all the axis

	rc = DMCBinaryCommand((HANDLEDMC) m_handle,
						  (unsigned char *) m_buffer_out, 
						  4,
						  m_buffer_in, 
						  buff_length);
	return rc;
}
//--------------------------------------------------------------------------------------
//       Class:  YARPGalilDeviceDriver
//      Method:  find_index 
// Description:  This method activates de FI command in all the axis. It is not available 
// 				 externally. This is because the find index procedure has to follow a 
// 				 particular sequence (JG,FI,BG). Therefore, in upper levels the activate_index_search
// 				 is used.
//--------------------------------------------------------------------------------------
YARPGalilDeviceDriver
Method:  find_index
Description:  This method activates de FI command in all the axis. It is not available
externally. This is because the find index procedure has to follow a
particular sequence (JG,FI,BG). Therefore, in upper levels the activate_index_search
is used.
YARPGalilDeviceDriver Method : find_index Description : This method activates de FI command in all the axis . It is not available externally . This is because the find index procedure has to follow a particular sequence ( JG FI BG ) . Therefore in upper levels the activate_index_search is used .
int
YARPGalilDeviceDriver::find_index()
{
	int rc = 0;
	char *buff = m_buffer_out;
	buff = _append_cmd((char) 0xA5, buff);		
	buff = _append_cmd((char) 0x00, buff);		
	buff = _append_cmd((char) 0x00, buff);		
	buff = _append_cmd((char) 0x00, buff);		
	rc = DMCBinaryCommand((HANDLEDMC) m_handle,
						  (unsigned char *) m_buffer_out, 
						  4,
						  m_buffer_in, 
						  buff_length);
	return rc;
}
int YARPGalilDeviceDriver :: find_index ( ) { int rc = 0 ; char * buff = m_buffer_out ; buff = _append_cmd ( ( char ) 0xA5 , buff ) ; buff = _append_cmd ( ( char ) 0x00 , buff ) ; buff = _append_cmd ( ( char ) 0x00 , buff ) ; buff = _append_cmd ( ( char ) 0x00 , buff ) ; rc = DMCBinaryCommand ( ( HANDLEDMC ) m_handle , ( unsigned char * ) m_buffer_out , 4 , m_buffer_in , buff_length ) ; return rc ; }
Class:  YARPGalilDeviceDriver
Method:  find_index
Description:  This method activates de FI command in all the axis.
Class : YARPGalilDeviceDriver Method : find_index Description : This method activates de FI command in all the axis .
//FI //00 no data fields //00 no coordinated movement //00 for all the axis