Difference between revisions of "Haptic Gaming System"

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==Software==
==Software==

=== PIC Programing ===

Revision as of 17:54, 17 March 2010

Overview

Haptikos is an interactive gaming system that allows the user to physically feel a virtual world. The player controls the cursor by moving the red joystick. Two games were created to test the feedback system. The first, the player assumes the character of LINK (from Zelda) and jumps through a side-scrolling level collecting rupees and avoiding red boxes. The second involves feeling out the virtual shape with nothing other than a blue position dot and a blank screen. The answer can be seen by pushing R.

Haptikos.jpg

The Team

  • Yang Bai (Mechatronics Masters Student)
  • Philip Dames (Mechanical Engineering MS/BS)
  • Megan Welker(Mechanical Engineering BS/BM)
Team22haptics.jpg


Mechanical Design

Existing System

Haptikos is a modification from a previous pentagraph configuration. This allows for the free point to be able to freely move in a fixed two-dimensional plane. There are two Canon TR-36 optical encoders with a 3600 count/rev in x1 mode mounted on top of the stationary pivot.(see below) They are used to track the angle of the larger bars and calculate the position of the free point.

EncodersTeam22.jpg

System Modifications

The existing system had the capability to accurately tell where the free point was in space, but could not put any force on that point. A Pittman 700935 motorwas attached to each of the larger bars in the back of the pentagraph using a capstan configuration.

The capstan was created by milling two arcs out of Aluminum and then attaching one arc end to the furthest point from the backboard on each bar. A piece of heavy duty thread was set into the groove of the outer side of the arc and secured by screws on either side. To connect the capstan to the Motor, the thread was merely wound around the shaft three times and replaced tight into the groove. (see below)

The gear ratio the arc applies to the motor is approximately 14.7 to 1. (Radius of arc/ Radius of Capstan Drive)


Arc.
Thread and Motor attachment.


Electrical Design

The five boards created to run Haptikos

Circuitry.


PIC Configuration

PICWiringTeam22.jpg

Whatever this is

what it does

its circuit


Circut1Team22meg.jpg
PictureofCircut1Team22.jpg
2PictureofCircut1Team22.jpg


thing 2

what it does

its circuit


Circut2Team22meg.jpg
PictureofCircut2Team22.jpg



Motor Control

how it controls it

its circuit


MotorControlCircutTeam22.jpg
PictureofMotorControlCircutTeam22.jpg


Software

PIC Programing