Setting/Getting virtuose end effector forces

[Joe Louca]

Hi everyone,

Just getting started with my virtuose desktop and am running into some issues. Hoping someone might have come across this before and can give some advice.

I have connected to the virtuose (through C++ and VirtuoseAPI), and can read the end effector position/buttons ok. However, I cannot work out how to apply or read the end effector forces.

I am using the following lines based on the pointer control in the API documentation: (have tried varying the force values and running in a loop/stand alone code)

    

    float force[6] = {5.0f, 5.0f, 5.0f, 0.5f, 0.5f, 0.5f};

    success = virtSetForce(VC, force);

The functions output a success with no errors, but there is no force on the virtuose.

I have also tried the virtAddForce and virtGetForce functions, but am getting a similar issue.

The command type is "COMMAND_TYPE_IMPEDANCE", and have tried "COMMAND_TYPE_VIRTMECH" too.

Has anyone encountered/fixed this before? Am i perhaps missing something obvious in how to send commands to the haption?

Many thanks

Joe

[Jerome Perret]

Dear Joe,

All Haption devices are delivered with a standard test application called "VirtuoseDemo", available for Microsoft Windows and Linux. 

You can find it on the USB storage key delivered together with the device, which also contains the source code of the same.

In case you lost the USB storage key, just send an e-mail to con...@haption.com and we'll send you a download link.

You should first run VirtuoseDemo in order to verify that the device is working properly and sending forces.

If not, check the LCD status (00 is normal, 71 is watchdog error, any other is a hardware breakdown).

In case of 00 and there is no force-feedback, then check that:

- The front button is pushed and lights up

- You are pushing the deadman switch (either pedal or touchpad, depending on the device model)

After you made sure that the device is working well with VirtuoseDemo, then go back to your code or contact Haption.

We have plenty of sample programs which we can share, in order to help you out.

Best,

Jerome

Haption CEO France/Germany

[Joe Louca]

Hi Jerome,  I just tested with the Demo software and my code - its all working now. Think I had just forgotten about the deadman switch.. Had a feeling it would be something obvious!

Thanks for your help.

Best,

Joe