Repository of the software used for the practical sessions of the course "Haptic Human-Robot Interfaces". This includes the firmware of the control board, and the remote control application that runs on a PC.
[Firmware] fixed missing linker options for math
[Firmware] improved the IMU read performance
Fixed issues occuring when there are many SyncVars
[CPP] updated the example application
[MATLAB] added example script for the board lib
[CPP] HriPcController: show values when streaming
[CPP] HriBoardLib: fixed minor compilation warning
[CPP] HriPcController: improved value fields
[CPP] HriBoardLib: fixed rare crash at startup
[CPP] resizable plot frame
[CPP] auto-read variables values at connect
[CPP] added "pause plot" button
Added README file.
[CPP] fixed issues with PC interface
[CPP] Ignore "tty.*" serial ports on UNIX
This is the software developed for the lab sessions of the "Haptics Human-Robot Interfaces" course. The most important part is the firmware of the board that controls the paddle. Two interfaces (MATLAB and C++/Qt) are also available to communicate remotely with the board.
First, clone the repository using the following command: git clone ssh://email@example.com/diffusion/2671/hhri-software.git.
- Download and install Java runtime environment from Oracle's website:
http://www.oracle.com/technetwork/java/javase/downloads/index.html For Windows, the "JRE" is sufficient, but you need the "JDK" for MacOSX.
- Download and install the System Workbench IDE:
- Connect the ST-LINK programmer to the computer. In case it is not recognized (check in the device manager), download and install the driver. This step is not required with MacOSX.
- Download, extract and install the USB drivers for the HRI board (more specifically, for its USB-to-UART chip). This step is not required with MacOSX.
- Import the Firmware project (HHRI-Software/Firmware/.project) into System Workbench.
MATLAB 2016b (or later) is required. The only necessary toolbox is the "Instrument Control Toolbox".
Go to https://www.qt.io/download-open-source/, download and install the Qt development environment for Desktop PC. When in the “Select Components” page, choose the following items:
- Qt 5.8 (or a later one if available):
- MinGW 5.3.0 32 bit (or a later one if available).
- Qt Charts
- MinGW 5.3.0 (the one that matches your Qt version).
- Source code organization
- Firmware/: source code of the firmware of the motorboard. Most of the work during the lab sessions will be performed in the file Firmware/src/haptic_controller.c. The Doxygen code documentation can be found in Firmware/doc/firmware_documentation.html.
- MATLAB/: mainly contains a graphical user interface to interact with the board (hri_gui.m).
- CPP/: contains a ready-to-use graphical user interface similar to the MATLAB one, and an example project that shows how to make a custom user interface. The latter will be useful for some specialization projects, if high performance is required. The Doxygen code documentation can be found in CPP/doc/cpp_interface_documentation.html.
Please contact Romain Baud for technical support, or to report bugs.
Please clone the repository, make a new branch, and send your patch files for review to Romain Baud.
This project is distributed under the Apache License, Version 2.0. More information can be found in the NOTICE and LICENSE files.