Else your computer will have a bad digestion and you’ll need to restart LabVIEW. Waning: Always “uninit” your device ID before “initing” another one. At the end you must “Stop” the servo thread and “uninit” the used ID. A lower rate just makes a poorer haptic illusion. It is your responsibility to repeatedly read and write to the haptic at a rate of about 1000 times per second (yes, 1000). Else you can “start” the servo thread and make the ID the default ID value for the read and write operations. If this fail (the device is not ready), a -1 is returned and your program should stop. The good news are that because the concurrent nature of LabVIEW language and the lack of conventional classes architecture, is easier Minimum exampleįirst you need to “init” the device to get a device ID. The Y axis is pointing up and the Z is aiming toward the user. The Cartesian workspace is about 20 cm with with origin at the center position. Also, the status of the tool-tip buttons can be read. As this is a three degrees of freedom (DOF’s) system, only forces and positions along the X, Y and Z axes are exchanged. Else you can learn how to build it by yourself here.Īn impedance-type haptic link this one is a very simple device: it receives Cartesian forces and return its position. If you already have the “hdl” library its time to start programming.
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