Integrating all the pieces into one test platform. The test could be to move a collection of physically-based spheres (easy collision detect) from one area to another. Time would be recorded from the indication of a start and stop (spacebar, something in the sim, etc). Variations would be:
- Open loop: Measure position and pressure, but no feedback
- Force Feedback (Phantom) only
- Vibrotactile feedback only
- Both feedbacks
Probably only use two actuators for the simplicity of the test rig. It would bean that I could use the laptop’s headphone output. Need to test this by wiring up the actuators to a micro stereo plug. Radio Shack tonight.
Got two-way communication running between Phantom and sim.
Have force magnitude adjusting a volume.
Added a SimpleSphere class for most of the testing.
I think I know what the vibroacoustic study should be. I put an actuator on the Phantom and drive wav files based on the material associated with the collision. I can use the built-in haptic pattern playback as a control. To make the wav files, it might be as simple as recording the word, or using a microphone to contact a material, move across it and lift off (personally, I like this because it mimics what could be done with telepresence. The use of multiple sensor/actuator pairs can be used in a later study.
Which means that I don’t actually need the Phidgets code in the new KF hand codebase. I’m going to include it anyway, simple because I’m so close and can use it later.
Come to think of it, I could put an actuator on a mouse as well and move over materials?
Tasks for today:
- Finish getting the Phidgets code working in KF_Hand_3 – done
- Start to add sound classes – done inasmuch as sounds are loaded and played using the library I wrote. More detail will come later.
- Start to integrate Phantom. Got HelloHapticDevice2 up and running again, as well as quite a few demos
C++ is like being in a candy store, full of a huge variety of bright, shiny treats that can blow your hand off if you don’t pay attention.
- Finishing up adding multiple sound capability per test attempt. Because I’ve been away from C++ for a while and I like to try new things, I poked around with tuples for a while, which are kind of neat. Then I decided to put them into a vector and access them. That lead to code like this:
- Got the multi sound playing and the results output to .csv. Next is to get the xml setup files running.