CyberImpact SDK 2.0 Beta 2 Table of Contents

• INTRODUCTION
• About CyberImpact
• About Force-Feedback
• About This Manual
• CyberImpactTM Software
• Future Releases
• Revision History
• Questions and Comments
• Windows95 or DOS INSTALLATION
• System Requirements
• Software Installation
• config\
• dll\
• lib\
• include\
• hde\
• test\
• doc\
• Selecting a COM Port
• Testing the Installation
• Setup
• Running test.exe
• Choosing an Effect from the Test Menu
• Making an Executable
• Compiling under Windows 95(for Microsoft Visual C++ 2.0 or greater)
• Compiling under Windows 95(for Watcom 10.5 or greater)
• Compiling under 32-Bit MS-DOS (Watcom 10.5 or greater)
• SGI-IRIX 5.3 or FreeBSD INSTALLATION
• System Requirements
• Software Installation
• config\
• lib\
• include\
• test\
• doc\
• Selecting a COM Port
• Testing the Installation
• Setup
• Running Test
• Choosing an Effect from the Test Menu
• Making an Executable
• Compiling under SGI-IRIX 5.3 or FreeBSD
• Client Server Model
• FORCE-FEEDBACK EFFECTS LIBRARY (FFELib)
• Common Elements
• Return Error Structure
• Communication Structure
• Haptic Device Framework
• Units of Measure
• Effect Handles
• Notation and Conventions
• FFELib Functions
• FFE_Force
• FFE_Impulse
• FFE_Spring
• FFE_Damping
• FFE_Mass
• FFE_Vibration
• FFE_Buffet
• FFE_VibroKick
• FFE_Recoil
• FFE_MachineGun
• FFE_Wall
• FFE_VibrateAxes
• FFE_WaveAxis
• FFE_TimedBuffet
• HAPTIC LIBRARY (HAPLib)
• Common Elements
• Return Error Structure
• Communication Structure
• Haptic Device Framework
• Units of Measure
• Effect Handles
• Notation and Conventions
• HAPLib Functions
• HAP_Open
• HAP_Close
• HAP_CallOpen
• HAP_SendConfig
• HAP_SetupLine
• HAP_StartServer
• HAP_DriveServo
• HAP_GetDeviceInfo
• HAP_GetForce
• HAP_GetPos
• HAP_GetVel
• HAP_GetAcc
• HAP_GetToggles
• HAP_GetValuators
• HAP_PutForce
• HAP_PutKP
• HAP_PutPos
• HAP_PutKV
• HAP_PutVel
• HAP_PutKA
• HAP_PutAcc
• HAP_Vibration
• HAP_SampleEdit
• HAP_SampleRandom
• HAP_PlayCntl
• HAP_Play
• HAP_PlayMult
• HAP_PlayAdd
• HAP_SetHome
• HAP_RemoveEffect
• HAP_RemoveAllEffects
• HAP_RestartEffect
• HAP_RestartAllEffects
• HAP_StopEffect
• HAP_StopAllEffects
• HAP_PauseEffect
• HAP_PauseAllEffects
• HAP_Time
• HAP_LoadSample
• HAP_SendSetupLine
• HAP_SendSetupFile
• HAP_GetSetupData
• HAP_Home
• HAP_SetUnits
• HAP_GetUnits
• HAP_ SetTimeCallback
• CONTROLS LIBRARY (CNTRLib)
• Common Elements
• Return Error Structure
• Communication Structure
• Haptic Device Framework
• Units of Measure
• Effect Handles
• Notation and Conventions
• CNTRLib Functions
• CNTR_InstControl
• CNTR_DeInstControl
• CNTR_StartControl
• CNTR_StopControl
• CNTR_StartAllControls
• CNTR_StopAllControls
• CNTR_PeekAdd
• CNTR_PeekSend
• CNTR_PeekGet
• CNTR_Peek
• CNTR_PokeAdd
• CNTR_PokeSend
• CNTR_Poke
• CNTR_PokeAddDSV
• CNTR_PokeRemoveDSV
• Controls:
• TIME97 Control
• COND97 Control
• DEV97 Control
• PID97 Control
• WAVE97 Control
• SAM97 Control
• ENV97 Control
• SUM97 Control
• WALL97 Control
• FORA97 Control
• CNTRLib Example
• CONFIGURATION FILES
• Device Definition File
• Device Server Configuration File
• Version
• DeviceType
• Servo
• NumPAxes
• NumToggles
• NumNPAxes
• IMC#
• Timer
• EncWatchdog
• Units
• Trace
• Axis#
• Coeff#     
• Home#
• Nub
• Mode#
• IMode#
• IFORCE
• Derivation Coefficients and Damping
• HAPTIC DEVELOPMENT ENVIRONMENT (HDE)
• About the HDE
• Client-Server Model
• Simultaneous Effects
• HDE User Interface
• System Menu
• Setup Menu
• HAPLib Menu
• Help Menu
• ERROR CODES
• DESIGN CONSIDERATIONS
• The Haptic Device Server
• Position Control vs. Rate Control Inputs
• Force, Position, Velocity, and Acceleration Control Outputs
• Servo Rates
• DOS Support
• Device Overheating
• DEVICE SPECIFIC INFORMATION
• Cybernet RealFeel Yoke
• CH Force FX Joystick
• CyberImpact Joystick
• CyberImpact FingerForcer
• Operating the Software without a Force-Feedback Device
• Footnotes