Test..

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

Note: in case images appear unclear, you can view them in a slightly higher resolution by clicking on them. Objective & Introduction: My understanding of the objective of this lab was to create a maze using the Fisica library and Haply hardware, based on the examples that came included with the Haply library. As with three other students, I received my Haply late and worked on this lab during late-semester crunch time, but acknowledge that I had the benefit of looking at past comments by students in the CanHaptics Discord, being provided with flexible deadlines for lab submissions, and even peeking at existing work performed by other students, so there really wasn't a downside to working later given the circumstances. I don't talk about the Haply assembly experience here but in my project iteration 2 blog instead, as that was the earliest assignment due by the time I received the hardware. In summary, neither the Haply hardware nor the software environment was painstaking