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Iteration 1

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Project Goal: To visualize data using the Haply and vibrotactile devices and help answer questions such as “which type of feedback is more suitable for a specific type of visualization?” and “what are some of the ways in which haptics can complement the visualization experience?” Iteration 1 Approach:  Given the circumstances with three out of four of us having different hardware, we took a more experimental based approach: we shared code for developing graphs, tested out various encoding mechanisms using the tactile devices, reported on what we felt, shared our experiences, and then decided on how to go about the next iteration. The first step was to develop simple, common visualizations on which we could compare our haptic experiences. A quick search on Google led me to find a visualization API for Processing developed by an academic team at the City University London. As you can see, this gives us a wide variety of visualizations to test out work on: Of course, this is muc...
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Lab 4 - PID Control

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Introduction: The main objective of this lab was to gain familiarity with controlled actuation and path-following using PID control by understanding the behaviour exhibited by each parameter. Before starting any of the assessments, I noticed that precisely adjusting the PID values using the control knobs was awkward. The sketch contained code to increment these values through key presses, but these changes were not reflected on the UI. I added a few lines of code in the KeyPress() event to fix this issue, and the result made tuning the parameters much easier. Secondly, I was unable to perform any assessment with the end-effector's star-shaped "head", as the magnet on which it sits was unable to stick to my Haply. The code for this lab can be found here . 1) Run the code and try out the P controller. How does it feel? What happens when you change the target position? What does changing the P parameter do? Do you notice any problems? Snapping to the original target positio...
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