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
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
The Haptic 5-DOF Wand Joint Angles block has no parameters.
Targets
|
Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
|
Yes |
Yes |
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|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
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 |
See Also
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