Re: Haptics in Orocos

Hi Herman,
I'll try to state clearer what I'm looking for:
Each mainstream haptic device has its own API shipped by the manufacturer
(HD-API for phantom, DHD-API for delta, etc).Despite the differences between these APIs, all of them allows to gain
both high-level access (read position/orientation and send forces/torques,
in a local reference frame)as well as low-level access (read single encoders and send forces to each
single motor) to the device.Almost for sure no manufacturer will ever give enough details on their
hardware to allow third parties to be able to rewrite drivers... and even
if they can be (probably) easily reverse engineered there are surely legal
issues involved with this.
So my questions are:
Does Orocos contains code to use some of these devices without using
directly their native API (thinking to a sort of a common interface
wrapped around their APIs)?If so, what kind of access does it allow? high, low, or both?
Does Orocos contains code to "build" the high-level access on top of
low-level access to raw encoders/motors (as your previous reply suggests)?
Thank you,
Maurizio de Pascale
[email protected]


[email protected] wrote:
> On Wed, 1 Feb 2006, Maurizio de Pascale wrote:
>
>> Is there any support in OROCOS for haptic devices (especially
>> mainstream ones such as the phantom, delta, freedom, etc)?>> If so, can you point me to code/doc/url to start reading from?
>>
> What is your question exactly:
> - do we have device drivers to work with the embedded controller of the
>   Phantom? No... (The manufacturers don't release the required information)
> - can one use Orocos to replace the original controller? Yes, but we
> don't have>   off the shelf code available at this moment.
>
> Herman
>
> --
>   K.U.Leuven, Mechanical Eng.,  Mechatronics & Robotics Research Group
>     <http://people.mech.kuleuven.be/~bruyninc> Tel: +32 16 322480
>
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