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Haptic 5-DOF Wand Joint Angles

Converts encoder counts from the Quanser Haptic 5-DOF Wand into joint angles.

Library

QUARC Targets/Devices/Quanser/Haptics/Pantographs/Haptic 5-DOF Wand/Interfacing

Description

Haptic 5-DOF Wand Joint Angles

The Haptic 5-DOF Wand Joint Angles block converts encoder counts read from the Quanser Haptic 5-DOF Wand into joint angles in radians. Use one of the HIL blocks to read the encoders of the Quanser Haptic 5-DOF Wand and feed the raw encoder counts (measured with full quadrature) to the input of the Haptic 5-DOF Wand Joint Angles block. The encoder counts should be input as a 6-vector in the following order of the joints: top-left-small, top-right-small, bottom-left-small, bottom-right-small, top-big, bottom-big.

For the Quanser Q8 card, encoder channels 0 through 5 are typically used to read the six joints of the Quanser Haptic 5-DOF Wand, with channels 0 through 5 corresponding to the joints in the required order of top-left-small, top-right-small, bottom-left-small, bottom-right-small, top-big, bottom-big respectively.

Input Ports

encs

The raw encoder counts measured from the six joints. The encoder counts must be input as a 6-vector in order of the joints, i.e., top-left-small, top-right-small, bottom-left-small, bottom-right-small, top-big, bottom-big. The 4X quadrature mode must be used when reading the encoders.

Output Ports

angs

The joint angles in radians for the six joints. The joint angles are output as a 6-vector in order of the joints, i.e., top-left-small, top-right-small, bottom-left-small, bottom-right-small, top-big, bottom-big.

Data Type Support

This block supports inputs and outputs of type double.

Parameters and Dialog Box

Haptic 5-DOF Wand Joint Angles

The Haptic 5-DOF Wand Joint Angles block has no parameters.

Targets

Target Name

Compatible*

Model Referencing

Comments

QUARC Win32 Target

Yes

Yes

QUARC Win64 Target

Yes

Yes

QUARC Linux Nvidia Target

Yes

Yes

QUARC Linux Raspberry Pi 3 Target

Yes

Yes

QUARC Linux Raspberry Pi 4 Target

Yes

Yes

QUARC Linux RT ARMv7 Target

Yes

Yes

QUARC Linux x64 Target

Yes

Yes

QUARC Linux DuoVero Target

Yes

Yes

QUARC Linux DuoVero 2016 Target

Yes

Yes

QUARC Linux Verdex Target

Yes

Yes

QUARC QNX x86 Target

Yes

Yes

Last fully supported in QUARC 2018.

Rapid Simulation (RSIM) Target

Yes

Yes

S-Function Target

No

N/A

Old technology. Use model referencing instead.

Normal simulation

Yes

Yes

* Compatible means that the block can be compiled for the target.

See Also

 

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