3478 lines
143 KiB
INI
3478 lines
143 KiB
INI
# vrpn.cfg SAMPLE for VRPN version 07.35
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################################################################################
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################################################################################
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# This file provides comments and examples for the vrpn.cfg file that is read
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# by the vrpn_server application when it starts up. This is a generic server
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# application that can start up many but maybe not all servers.
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#
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# This has sample lines for a vrpn.cfg file. If you get a new device working,
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# add a line for it here. DO NOT remove lines from this file (unless
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# devices are declared obsolete) - just change the actual vrpn.cfg to match
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# your application.
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#
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# All examples in the file are preceded by comment characters (#). To actually
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# use one of these examples, remove that character from the beginning of all the
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# examples that you want to use, and edit those lines to suit your environment.
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################################################################################
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################################################################################
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# NULL Tracker. This is a "device" that reports the Identity transformation for
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# each of its sensors at the specified rate. It can be used to verify
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# connections are working and for other tests of VRPN.
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# There are three arguments:
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# char name_of_this_device[]
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# int number_of_sensors
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# float rate_at_which_to_report_updates
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# vrpn_Tracker_NULL Tracker0 2 2.0
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################################################################################
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# Spin Tracker. This is a "device" that reports a spinning rotation at the
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# origin for each of its sensors at the specified rate. It can be used to
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# provide smooth motion to debug rendering systems.
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# There are seven arguments:
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# char name_of_this_device[]
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# int number_of_sensors
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# float rate_at_which_to_report_updates
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# float x_of_axis_to_spin_around
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# float y_of_axis_to_spin_around
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# float z_of_axis_to_spin_around
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# float rotation_rate_around_axis_in_Hz
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vrpn_Tracker_Spin Tracker0 1 200.0 0.0 1.0 0.0 0.1
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################################################################################
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# WintrackerIII from VR SPace
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# Emiliano Pastorelli - Institute of Cybernetics, Tallinn (Estonia)
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#
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# Several other commands are available to control the device, a future version of the server will implement them too
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#
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# char name_of_the_device[]
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# activate sensor0 activate (1=activated, 0=deactivated)
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# activate sensor1 activate (1=activated, 0=deactivated)
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# activate sensor2 (1=activated, 0=deactivated)
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# activate range extender (1=activated, 0=deactivated)
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# hemisphere of operation (X = front hemisphere with X>0; Z = upper hemisphere with Z<0 )
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#
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#vrpn_Tracker_Wintracker Wintracker0 1 0 0 0 X
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################################################################################
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# Example Button server. This is a "device" that reports on and off for
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# each of its buttons at the specified rate. It can be used to verify connections
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# are working and for other tests of VRPN. There are three arguments:
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# char name_of_this_device[]
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# int number_of_buttons
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# float rate_at_which_the_buttons_toggle (transitions/second)
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vrpn_Button_Example Button0 2 2.0
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################################################################################
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# Example Dial server. This is a "device" that reports constant rotations for
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# each of its dials at the specified rate. It can be used to verify connections
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# are working and for other tests of VRPN. There are four arguments:
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# char name_of_this_device[]
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# int number_of_dials
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# float rate_at_which_the_dials_spin (revolutions/second)
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# float rate_at_which_to_report_updates (updates/second)
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#vrpn_Dial_Example Dial0 2 2.0 10.0
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################################################################################
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# Flock-of-birds Tracker. Runs an Ascension Flock of Birds tracker that is
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# attached to a serial port on this machine. Note that there is another driver
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# (listed below) that runs the Flock when each sensor is connected to its own
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# serial line. Arguments:
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# char name_of_this_device[]
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# int number_of_sensors
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# char name_of_serial_device[]
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# int baud_rate_of_serial_device
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# int invert_quaternion (0 = no, 1 = yes)
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# char useERT (OPTIONAL; defaults to yes)
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# char[2] active_hemisphere (OPTIONAL; defaults to +z)
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#
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# NOTE: for useERT: use nothing, y or Y if you have an extended range
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# transmitter, use N or n if not (added by David Nahon for Virtools
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# VRPack/SAS Cube.
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# NOTE: The "invert_quaternion" parameter was added because there was a
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# conflict between the code that had been around since VRPN started and
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# the Flock documentation -- it looks like most people had been using the
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# Flock in the "wrong" hemisphere, which inverted the orientation relative
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# to the position. The old behavior is obtained by specifying "1". Not
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# inverting it is specified using "0".
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# NOTE: active hemisphere is one of "+x", "-x", "+y", "-y", "+z", "-z"
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# If "active_hemisphere" is not specified, it defaults to +z.
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#vrpn_Tracker_Flock Tracker0 4 /dev/ttyS0 115200 1
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# If you have to FOB, with no Extended Range ctrler/transmitter, on Windows,
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# with -x as the active hemisphere, use
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#vrpn_Tracker_Flock Tracker0 2 COM1 38400 1 N -x
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# Watch: be sure that the serial baud rate dip switches (the 3 on the left)
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# of your master flock are properly set.
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# You should try baud rates like 38400 before trying to go higher
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# In normal address mode - less than 14 fob units - your switch should be:
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# 0 1 2 3 4 5 6 7
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# 0 0 1 X X X X 0 2400
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# 0 1 0 X X X X 0 4800
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# 0 1 1 X X X X 0 9600
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# 1 0 0 X X X X 0 19200
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# 1 0 1 X X X X 0 38400
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# 1 1 0 X X X X 0 57600
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# 1 1 1 X X X X 0 115200
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#
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# X X X X are used for coding the FOB address, they must be set correctly,
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# even if you are only using 1 unit (standalone mode)
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# the settings should be (in normal address mode):
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# 3 4 5 6
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# 0 0 0 1 for the first unit
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# 0 0 1 0 for the second unit
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# 0 0 1 1 for the third
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# 0 1 0 0 for the fourth
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# 0 1 0 1 for the fifth
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# ...
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#
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############################################################################
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# WATCH WATCH WATCH WATCH WATCH WATCH WATCH WATCH WATCH WATCH WATCH WATCH
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###################
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#
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# On windows at least, it might be necessary to cut your serial cable so as
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# to only have Transmit, Receive and Ground pins. Even if CBIRDS or WINBIRDS
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# are fine with a cable, it doesn't mean that this cable will please vrpn.
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# This limitation should have been fixed with version 06.05.
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#
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###################
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################################################################################
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# Flock-of-birds in parallel Tracker. Runs an Ascension Flock of Birds tracker
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# that has its source and each sensor plugged into its own serial port on this
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# machine (perhaps through a Cyclades multi-port serial card). This mode of
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# operation increases the throughput and decreases the latency of tracker reports.
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# The arguments match those of the Flock-of-birds tracker from above, with the
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# addition of the name of the serial ports for each of the sensors added at the
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# end. Arguments (all on the same line):
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# char name_of_this_device[]
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# int number_of_sensors
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# char name_of_serial_device_for_controller[]
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# int baud_rate_of_serial_device
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# int invert_quaternion (0 = no, 1 = yes)
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# [one for each sensor] char name_of_serial_device_for_sensor[]
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#
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# NOTE: The "invert_quaternion" parameter was added because there was a
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# conflict between the code that had been around since VRPN started and
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# the Flock documentation -- it looks like most people had been using the
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# Flock in the "wrong" hemisphere, which inverted the orientation relative
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# to the position. The old behavior is obtained by specifying "1". Not
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# inverting it is specified using "0".
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#vrpn_Tracker_Flock_Parallel Tracker0 4 /dev/ttyC4 115200 1 /dev/ttyC0 /dev/ttyC1 /dev/ttyC2 /dev/ttyC3
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#vrpn_Tracker_Flock_Parallel Tracker0 2 COM1 115200 1 COM2 COM3
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################################################################################
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# Fastrak Tracker. Runs a Polhemus Fastrak tracker that is attached to a serial
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# port on this machine. This driver will also run an InterSense IS600 or IS900
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# tracker, but you will want to include extra initialization code (as described
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# below) to set up the ultrasonic pip information, wand devices, stylus devices
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# and so forth. Arguments that go on the first line:
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# char name_of_this_device[]
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# char name_of_serial_device[]
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# int baud_rate_of_serial_device
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#
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# It is possible to add additional commands that will be sent to the tracker
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# by putting the backslash character (\) at the end of the config line. This
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# will cause the following line to be read in and sent to the Fastrak during
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# the reset routine. You can add additional lines by putting a slash at the
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# end of each command line but the last. Each line will be sent to the Fastrak
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# with a newline at the end of it. If a line starts with an asterisk (*), then
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# it is treated as a line telling how long to sleep, with the integer number of
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# seconds following the *.
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#
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# If one or more sensors on the Fastrak have a stylus button on them, use
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# the "FTStylus" command after the reset command lines (if any). There should
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# be a front-slash "/" character at the end of the line before the FTStylus
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# command. The command takes two arguments: the name of the button device
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# that will report the buttons and the sensor number to which the button is
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# attached (the first sensor is sensor 0).
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#
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# Commands to add Joysticks (2 buttons) or Wands (5 buttons and 2 analogs) to
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# the various sensors on the Isense900 are done by adding Stylus and
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# Wand command lines after the reset command lines. Each of these lines
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# takes two arguments: the name of the button (for Stylus) or button and
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# analog (for Wand) servers, and the sensor number (starting from 0). The
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# Wand line takes eight additional parameters, which specify the scaling
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# and clipping behavior of the two directions on the analog joystick. Each
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# set of for is the min, lowzero, hizero, and max values: these are mapped
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# to -1, 0,0, and 1 (all values between lowzero and hizero are mapped to 0).
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# Start with these at -1,0,0,1 and use the 'printcereal' program or some other
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# method to read them and see what the range of acheivable values is. Then,
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# set them to slightly conservative values so that the whole range is covered
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# and the analogs will report zero when the joystick is centered. The
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# presence of these lines is indicated by placing them after any additional
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# reset command lines, by ending the line preceding them with the front slash
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# "/" character.
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#
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# Remember that the "remote" button object is not the same as the the tracking
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# device, so be sure to use a remote button object that connects to the button
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# rather than the tracker. The button device name is defined on the stylus or
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# wand line in the config file, and should not be the same as the tracker. In
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# the case described by the example configuration below, if the name of the
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# machine running the server is "myis900server" you would connect to the tracker
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# as "Isense900@myis900server" and to the buttons on the stylus as
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# "Stylus0@myis900server":
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#
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# Note that this frontslash and backslash-notation can only be used for the
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# Fastrak/Isense tracker, not to extend the line for any other type of device
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# listed in this configuration file.
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# Vanilla Fastrak on on a Unix box
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#vrpn_Tracker_Fastrak Fastrak0 /dev/ttyS0 19200
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# Fastrak with a stylus on sensor zero on a Windows box
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#vrpn_Tracker_Fastrak Tracker0 COM1 115200 /
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#FTStylus Stylus0 0
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# IS600 and its pip settings
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#vrpn_Tracker_Fastrak Isense600 /dev/ttyS0 19200 \
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#MCc\
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#*5\
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#MCM1,1,0.0900,0.0000,-0.2210,0.00,0.00,-1.00,89\
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#MCM1,2,-0.0566,0.0000,-0.2210,0.00,0.00,-1.00,87\
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#MCM2,1,0.0900,0.0000,-0.2210,0.00,0.00,-1.00,66\
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#MCM2,2,-0.0566,0.0000,-0.2210,0.00,0.00,-1.00,71\
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#MCM3,1,0.1237,-0.0762,-0.0424,0.00,0.00,-1.00,82\
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#MCM3,2,0.1237,0.0762,-0.0424,0.00,0.00,-1.00,77\
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#MCe\
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#*10
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# IS900 with a wand on the first sensor and a stylus on the third:
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#vrpn_Tracker_Fastrak Isense900 COM1 115200 /
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#Wand Wand0 0 -1.0 0.0 0.0 1.0 -1.0 0.0 0.0 1.0 /
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#Stylus Stylus0 2
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################################################################################
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# Isotrak Tracker. Runs a Polhemus Isotrak tracker that is attached to a serial
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# port on this machine. Arguments that go on the first line:
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# char name_of_this_device[]
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# char name_of_serial_device[]
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# int baud_rate_of_serial_device
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#
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# It is possible to add additional commands that will be sent to the tracker
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# by putting the backslash character (\) at the end of the config line. This
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# will cause the following line to be read in and sent to the Isotrak during
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# the reset routine. You can add additional lines by putting a slash at the
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# end of each command line but the last. Each line will be sent to the Isotrak
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# with a newline at the end of it. If a line starts with an asterisk (*), then
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# it is treated as a line telling how long to sleep, with the integer number of
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# seconds following the *.
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#vrpn_Tracker_Isotrak TrackerIsotrak /dev/ttyS0 115200 \
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#H1,0,1,0
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################################################################################
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# Liberty Tracker. Runs a Polhemus Liberty tracker that is attached to a serial
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# port (perhaps a USB-to-RS232 adapter) on this machine. Arguments that go on
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# the first line.
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# char name_of_this_device[]
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# char name_of_serial_or_usb_device[]
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# int baud_rate_of_serial_device (not used when the device is USB)
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# int number_of_chars_in_whoami_response (optional)
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#
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# It is possible to add additional commands that will be sent to the tracker
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# by putting the backslash character (\) at the end of the config line. This
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# will cause the following line to be read in and sent to the Liberty during
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# the reset routine. You can add additional lines by putting a slash at the
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# end of each command line but the last. Each line will be sent to the Fastrak
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# with a newline at the end of it. If a line starts with an asterisk (*), then
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# it is treated as a line telling how long to sleep, with the integer number of
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# seconds following the *.
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#
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# If one or more sensors on the Liberty have a stylus button on them, use
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# the "Stylus" command after the reset command lines (if any). There should
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# be a front-slash "/" character at the end of the line before the Stylus
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# command. The command takes two arguments: the name of the button device
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# that will report the buttons and the sensor number to which the button is
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# attached (the first sensor is sensor 0).
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#
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# -------------------------------------------
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# Example when Liberty is attached via USB
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# The BAUD Rate is needed, although it is not used
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#vrpn_Tracker_Liberty Liberty /dev/usb/ttyUSB0 115200
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#--------------------------------------------
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# Example when Liberty is attached via Serial
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#vrpn_Tracker_Liberty Liberty /dev/ttyS0 115200
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#--------------------------------------------
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# Example when Liberty is attached via Serial with a non-standard whoami length
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#vrpn_Tracker_Liberty Liberty /dev/ttyS0 115200 247
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#--------------------------------------------
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# Liberty attached via Serial with styluses on sensors zero and three
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#vrpn_Tracker_Liberty Tracker0 /dev/ttyS0 115200 /
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#Stylus Stylus0 0 /
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#Stylus Stylus1 3
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################################################################################
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# High Speed Liberty Latus Tracker. Runs a Polhemus Liberty Latus tracker that
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# is attached to a USB port on this machine. Arguments that go on the first line
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# char name_of_this_device[]
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# int number_of_markers_to_detect
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# int baud_rate_of_usb_device
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# int number_of_chars_in_whoami_response (optional)
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#
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# It is possible to add additional commands that will be sent to the tracker
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# by putting the backslash character (\) at the end of the config line. This
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# will cause the following line to be read in and sent to the Liberty during
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# the reset routine. You can add additional lines by putting a slash at the
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# end of each command line but the last. Each line will be sent to the Fastrak
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# with a newline at the end of it. If a line starts with an asterisk (*), then
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# it is treated as a line telling how long to sleep, with the integer number of
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# seconds following the *.
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# -------------------------------------------
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# Example when Liberty Latus is attached via USB
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# The BAUD Rate is needed, although it is not used
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#vrpn_Tracker_LibertyHS LibertyHS 3 115200
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################################################################################
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# InterSense tracker using the Intersense-provided library to communicate
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# with the tracker. This device type is not compiled by default, since it uses
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# a proprietary library. However, you can get it to compile by defining
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# VRPN_INCLUDE_INTERSENSE when compiling. Note that the Fastrak driver will
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# run IS-600 and IS-900 trackers without the proprietary library, so you might
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# try that as well.
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#
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# You can include extra initialization code (as described
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# below) to set up the ultrasonic pip information, wand devices, stylus devices
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# and so forth. Arguments that go on the first line:
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# char name_of_this_device[]
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# char name_of_serial_device[] - this can be COM1-4 or AUTO
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# AUTO will automatically find USB and
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# serial trackers. Use COM1-4 only if you
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# have more than one serial tracker.
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# You should use COM1-4 on unix as well,
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# as these just tell the isense library
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# to look in serial port 1-4.
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# I guess you can't have >1 USB trackers.
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# char "IS900time" - use the IS900 timestamps (optional)
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# char "ResetAtStartup" - resets all boresight and heading, on intertrax,
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# equivalent to push the reset button
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#
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# It is possible to add additional commands that will be sent to the tracker
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# by putting the backslash character (\) at the end of the config line. This
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# will cause the following line to be read in and sent to the InterSense during
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# the reset routine. You can add additional lines by putting a slash at the
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# end of each command line but the last. Each line will be sent to the InterSense
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# with a newline at the end of it. If a line starts with an asterisk (*), then
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# it is treated as a line telling how long to sleep, with the integer number of
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# seconds following the *.
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#
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# Commands to add Joysticks (2 buttons) or Wands (5 buttons and 2 analogs) to
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# the various sensors on the Isense900 are done by adding Stylus and
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# Wand command lines after the reset command lines. Each of these lines
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# takes two arguments: the name of the button (for Stylus) or button and
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# analog (for Wand) servers, and the sensor number (starting from 0). The
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# Wand line takes eight additional parameters, which specify the scaling
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# and clipping behavior of the two directions on the analog joystick. Each
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# set of for is the min, lowzero, hizero, and max values: these are mapped
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# to -1, 0,0, and 1 (all values between lowzero and hizero are mapped to 0).
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# Start with these at -1,0,0,1 and use the 'printcereal' program or some other
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# method to read them and see what the range of acheivable values is. Then,
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# set them to slightly conservative values so that the whole range is covered
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# and the analogs will report zero when the joystick is centered. The
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# presence of these lines is indicated by placing them after any additional
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# reset command lines, by ending the line preceding them with the front slash
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# "/" character.
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#
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# Remember that the "remote" button object is not the same as the the tracking
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# device, so be sure to use a remote button object that connects to the button
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# rather than the tracker. The button device name is defined on the stylus or
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# wand line in the config file, and should not be the same as the tracker. In
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# the case described by the example configuration below, if the name of the
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# machine running the server is "myis900server" you would connect to the tracker
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# as "Isense900@myis900server" and to the buttons on the stylus as
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# "Stylus0@myis900server":
|
|
#
|
|
# Note that this frontslash and backslash-notation can only be used for the
|
|
# Fastrak and InterSense tracker, not to extend the line for any other
|
|
# type of device
|
|
# listed in this configuration file.
|
|
#
|
|
# Note that this driver expects the device to be set to output centimeters, and will convert
|
|
# the positions to meters. It is recommanded to permanently set the units in the eeprom of your device.
|
|
# If this is not possible, you should add in this file the "u" reset command so as to have vrpn
|
|
# tell your device to use centimeters
|
|
#
|
|
#Vanilla InterSense
|
|
#vrpn_Tracker_InterSense Tracker0 AUTO IS900time
|
|
|
|
# Vanilla InterSense using IS900 timing, with wand in port B (and possibly head tracker in port A)
|
|
#vrpn_Tracker_InterSense Tracker0 AUTO IS900time /
|
|
#Wand Wand0 1 -1.0 0.0 0.0 1.0 -1.0 0.0 0.0 1.0
|
|
|
|
# IS600 and its pip settings
|
|
#vrpn_Tracker_InterSense Isense600 COM1 \
|
|
#MCc\
|
|
#*5\
|
|
#MCM1,1,0.0900,0.0000,-0.2210,0.00,0.00,-1.00,89\
|
|
#MCM1,2,-0.0566,0.0000,-0.2210,0.00,0.00,-1.00,87\
|
|
#MCM2,1,0.0900,0.0000,-0.2210,0.00,0.00,-1.00,66\
|
|
#MCM2,2,-0.0566,0.0000,-0.2210,0.00,0.00,-1.00,71\
|
|
#MCM3,1,0.1237,-0.0762,-0.0424,0.00,0.00,-1.00,82\
|
|
#MCM3,2,0.1237,0.0762,-0.0424,0.00,0.00,-1.00,77\
|
|
#MCe\
|
|
#*10
|
|
|
|
# IS900 with a wand on the first sensor and a stylus on the third:
|
|
#vrpn_Tracker_InterSense Isense900 COM1 /
|
|
#Wand Wand0 0 -1.0 0.0 0.0 1.0 -1.0 0.0 0.0 1.0 /
|
|
#Stylus Stylus0 2
|
|
|
|
# Intertrax2 on USB, With automatic reset at startup
|
|
#vrpn_Tracker_InterSense Tracker0 AUTO ResetAtStartup
|
|
|
|
################################################################################
|
|
# Dynasight Tracker. Runs an Origin System's DynaSight tracker connected to a
|
|
# serial port on this machine. arguments:
|
|
# char name_of_this_device[]
|
|
# int number_of_sensors
|
|
# char name_of_serial_device[]
|
|
# int baud_rate_of_serial_device
|
|
|
|
#vrpn_Tracker_Dyna Tracker0 1 /dev/ttyS0 19200
|
|
|
|
#vrpn_Tracker_Dyna Tracker0 1 COM1 19200
|
|
|
|
################################################################################
|
|
# Crossbow Tracker. Runs a Crossbow Technology RGA300-series tracker that is
|
|
# attached to a serial port on this machine. There are four arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_device[]
|
|
# int baud_rate_of_serial_device (should be 38400)
|
|
# float linear_acceleration_sensitivity (Gs; default is 2.0)
|
|
# float angular_rate_sensitivity (degrees per second; default is 100)
|
|
|
|
#vrpn_Tracker_Crossbow Tracker0 COM1: 38400 2.0 100
|
|
|
|
###############################################################################
|
|
# 3d Microscribe is a mechanical tracker the nesseccary params are
|
|
# name port baudrate
|
|
# additional params are offsetx offsety offsetz scale
|
|
# offsets are in meters. Scale is an abomination in VRPN; all
|
|
# trackers report in meters.
|
|
#
|
|
|
|
#vrpn_3DMicroscribe Microscribe COM1 19200 0.3 -0.1 -0.2 1
|
|
|
|
################################################################################
|
|
# Serial 5DT glove with 16 sensors. This driver reports the 16 channels as analog
|
|
# devices. If you want to treat them as buttons, then also add the entry
|
|
# for the vrpn_Button_5DT_Server below, connecting it to the output of this
|
|
# server.
|
|
#
|
|
# This server does not work with the previous version of the glove.
|
|
# For other variations of 5DT datagloves, see vrpn_5dt and vrpn_Analog_5dtUSB
|
|
#
|
|
# arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_device[]
|
|
# int baud_rate_of_serial_device
|
|
|
|
#vrpn_5dt16 glove_5dt16 COM1 19200
|
|
|
|
################################################################################
|
|
#
|
|
# Use the 5dtglove16 as button device. Use in conjunction with the vrpn_5dt16
|
|
# device above to turn the analog reports into button press/release when the
|
|
# sensors cross the threshold.
|
|
#
|
|
# arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_the_glove device[]
|
|
# double threshold_toggle_point_between_pressed_and_unpressed[16]
|
|
|
|
#vrpn_Button_5DT_Server glove_5dt_button glove_5dt16 1794 2171 2110 2610 1707 2673 2459 1493 3029 2301 1936 3007 2302 1635 0 0
|
|
|
|
################################################################################
|
|
# AnalogFly Tracker. This is a tracker that is intended to be used on top of
|
|
# a joystick or motion tracker of some kind to turn it into a moving or flying
|
|
# device. It could be used on top of any analog device, in fact.
|
|
# This device basically takes in analog signals and puts out transformation
|
|
# matrices. It should supercede the JoyFly tracker, since it is more general.
|
|
# There are two kinds of JoyFly's: absolute ones and differential ones. For
|
|
# absolute ones, the analog value is mapped directly to position or orientation
|
|
# on each axis. For differential ones, the values are used to create a
|
|
# "change" matrix that is applied once per interval, accumulating changes as
|
|
# it goes; this enables the user to "fly" along by holding a joystick forward,
|
|
# for example.
|
|
# One analog channel is associated with each axis (X, Y, Z) and rotation about
|
|
# each axis (RX, RY, RZ). For each axis, the value is converted to a position
|
|
# (meters) or speed (meters/second) for absolute trackers; or into an
|
|
# orientation (revolutions) or angular velocity (revolutions/second) by first
|
|
# subtracting an offset, then thresholding it to see if it is far enough from
|
|
# zero, then (if it is) scaling it and taking it to a power (to allow nonlinear
|
|
# speedup as the stick is pushed far from center).
|
|
# A button can be associated with a reset function, which will take the
|
|
# device back to center (identity transformation). The device will also recenter
|
|
# when the first connection is made to the server it is running on. (Centering
|
|
# has no effect on absolute AnalogFlys).
|
|
# A button can be associated with a clutch function, which will mean that
|
|
# the device will not move unless the clutch is pressed, so you can use it
|
|
# like a mouse and continue to move by pulling to the right with the button
|
|
# down and then to the left with the button up. For differential analogflys,
|
|
# clutching makes the tracker not move unless the button is pressed. For
|
|
# absolute ones, it only moves when the button is pressed and the mouse is
|
|
# moving; it offsets to enable long-range motions in a finite tracking area,
|
|
# as with a mouse.
|
|
# Any axis or the reset button can be disabled by setting the name of its
|
|
# associated device to the string "NULL".
|
|
# Note that you could have multiple of these devices running simultaneously,
|
|
# each with a different name and interaction metaphor. The user could then
|
|
# connect to their favorite one. Arguments:
|
|
# char name_of_this_device[]
|
|
# float update_rate_to_send_tracker_reports
|
|
# char type[] = "absolute" or "differential"
|
|
# [six lines follow, one for X Y Z RX RY RZ, each with:
|
|
# char axis_name[] (X Y Z RX RY RZ in that order)
|
|
# char name_of_analog_device[] (start with * for local)
|
|
# int channel_of_analog_device
|
|
# float offset
|
|
# float threshold
|
|
# float scale
|
|
# float power
|
|
# ]
|
|
# [New line to describe reset button, with:
|
|
# char "RESET"
|
|
# char name_of_button_device[] (start with * for local)
|
|
# int which_button_to_use
|
|
# ]
|
|
# [New line to describe clutch button, with:
|
|
# char "CLUTCH"
|
|
# char name_of_button_device[] (start with * for local)
|
|
# int which_button_to_use
|
|
# ]
|
|
# [New line to indicate use of world frame for translation and rotation,
|
|
# instead of local frame. Useful for a simulated wand when doing desktop
|
|
# testing of immersive apps - easier to keep under control.
|
|
# char "WORLDFRAME"
|
|
# ]
|
|
|
|
#vrpn_Tracker_AnalogFly Tracker0 60.0 absolute
|
|
#X *Mouse0 0 0.5 0.0 2.0 1.0
|
|
#Y *Mouse0 1 0.5 0.0 2.0 1.0
|
|
#Z NULL 2 0.0 0.0 1.0 1.0
|
|
#RX NULL 3 0.0 0.0 1.0 1.0
|
|
#RY NULL 4 0.0 0.0 1.0 1.0
|
|
#RZ NULL 5 0.0 0.0 1.0 1.0
|
|
#RESET NULL 0
|
|
#CLUTCH *Mouse0 0
|
|
|
|
#vrpn_Tracker_AnalogFly Tracker0 60.0 absolute
|
|
#X *CerealBox0 4 0.0 0.021 1.0 1.0
|
|
#Y *CerealBox0 5 0.0 0.021 1.0 1.0
|
|
#Z *CerealBox0 6 0.0 0.021 3.0 1.0
|
|
#RX *CerealBox0 0 0.0 0.021 1.0 1.0
|
|
#RY *CerealBox0 1 0.0 0.021 1.0 1.0
|
|
#RZ *CerealBox0 2 0.0 0.021 3.0 1.0
|
|
#RESET *CerealBox 3
|
|
#CLUTCH NULL 0
|
|
|
|
#vrpn_Tracker_AnalogFly Tracker0 60.0 differential
|
|
#X *Magellan0 0 0.0 0.0 2.0 1.0
|
|
#Y *Magellan0 1 0.0 0.0 2.0 1.0
|
|
#Z *Magellan0 2 0.0 0.0 2.0 1.0
|
|
#RX *Magellan0 3 0.0 0.0 2.0 1.0
|
|
#RY *Magellan0 4 0.0 0.0 2.0 1.0
|
|
#RZ *Magellan0 5 0.0 0.0 2.0 1.0
|
|
#RESET NULL 0
|
|
#CLUTCH NULL 0
|
|
|
|
# For a good simulated wand for testing VR Juggler applications with a SpaceMouse:
|
|
#vrpn_Tracker_AnalogFly Tracker0 60.0 differential
|
|
#X *Magellan0 0 0.0 0.0 20.0 1
|
|
#Y *Magellan0 1 0.0 0.0 20.0 1
|
|
#Z *Magellan0 2 0.0 0.0 20.0 1
|
|
#RX *Magellan0 3 0.0 0.01 -5 1.0
|
|
#RY *Magellan0 4 0.0 0.01 -5 1.0
|
|
#RZ *Magellan0 5 0.0 0.01 -5 1.0
|
|
#RESET NULL 0
|
|
#CLUTCH NULL 0
|
|
#WORLDFRAME
|
|
|
|
#vrpn_Tracker_AnalogFly Tracker0 60.0 absolute
|
|
#X NULL 0 0.0 0.0 1.0 1.0
|
|
#Y NULL 0 0.0 0.0 1.0 1.0
|
|
#Z NULL 0 0.0 0.0 1.0 1.0
|
|
#RX *Radamec0 1 0.0 0.0 -0.0027777777 1.0
|
|
#RY NULL 0 0.0 0.0 1.0 1.0
|
|
#RZ *Radamec0 0 0.0 0.0 0.0027777777 1.0
|
|
#RESET NULL 0
|
|
#CLUTCH NULL 0
|
|
|
|
#vrpn_Tracker_AnalogFly Tracker0 60.0 absolute
|
|
#X *Joystick0 0 0.0 0.0 1.0 1.0
|
|
#Y *Joystick0 1 0.0 0.0 -1.0 1.0
|
|
#Z *Joystick0 6 0.0 0.0 1.0 1.0
|
|
#RX NULL 3 0.0 0.0 1.0 1.0
|
|
#RY NULL 4 0.0 0.0 1.0 1.0
|
|
#RZ *Joystick0 5 0.0 0.0 0.5 1.0
|
|
#RESET NULL 0
|
|
#CLUTCH NULL 0
|
|
|
|
# Using a joystick to emulate a Phantom for the
|
|
# nanoManipulator, the throttle maps to Z.
|
|
#vrpn_Tracker_AnalogFly Phantom 60.0 absolute
|
|
#X *Phantom 0 0.0 0.0 0.125 1.0
|
|
#Y *Phantom 1 0.0 0.0 -0.125 1.0
|
|
#Z *Phantom 6 0.0 0.0 0.25 1.0
|
|
#RX NULL 3 0.0 0.0 1.0 1.0
|
|
#RY NULL 4 0.0 0.0 1.0 1.0
|
|
#RZ *Phantom 5 0.0 0.0 0.06 1.0
|
|
#RESET NULL 0
|
|
#CLUTCH NULL 0
|
|
|
|
# For DTU/MIC optical nanoHand stage motion, moving over full 300 micron range
|
|
# of motion, using the Logitech joystick for the analog
|
|
# server and the tracker_to_poser program.
|
|
#vrpn_Tracker_AnalogFly Tracker0 60.0 absolute
|
|
#X *Joystick0 0 -0.03 0.0 2.53 1.0
|
|
#Y *Joystick0 1 -0.04 0.0 2.53 1.0
|
|
#Z *Joystick0 6 -0.10 0.0 -1.75 1.0
|
|
#RX NULL 3 0.0 0.0 1.0 1.0
|
|
#RY NULL 4 0.0 0.0 1.0 1.0
|
|
#RZ *Joystick0 5 0.0 0.0 0.5 1.0
|
|
#RESET NULL 0
|
|
#CLUTCH NULL 0
|
|
|
|
# To drive a Tektronix 4662 full range (Z, RZ ignored)
|
|
#vrpn_Tracker_AnalogFly Tracker0 60.0 absolute
|
|
#X *Joystick0 0 -1.0 0.0 0.19 1.0
|
|
#Y *Joystick0 1 1.0 0.0 -0.13 1.0
|
|
#Z *Joystick0 6 0.0 0.0 1.0 1.0
|
|
#RX NULL 3 0.0 0.0 1.0 1.0
|
|
#RY NULL 4 0.0 0.0 1.0 1.0
|
|
#RZ *Joystick0 5 0.0 0.0 0.5 1.0
|
|
#RESET NULL 0
|
|
#CLUTCH NULL 0
|
|
|
|
# For UNC Mad City Labs stage motion, moving over full 100 micron range
|
|
# of motion, using the Microsoft FF joystick for the analog
|
|
# server and the tracker_to_poser program.
|
|
#vrpn_Tracker_AnalogFly Tracker0 60.0 absolute
|
|
#X *Joystick0 0 -1 0.0 50 1.0
|
|
#Y *Joystick0 1 -1 0.0 50 1.0
|
|
#Z *Joystick0 6 -1 0.0 50 1.0
|
|
#RX NULL 3 0.0 0.0 1.0 1.0
|
|
#RY NULL 4 0.0 0.0 1.0 1.0
|
|
#RZ *Joystick0 5 0.0 0.0 0.5 1.0
|
|
#RESET NULL 0
|
|
#CLUTCH NULL 0
|
|
|
|
# For Artemis or Hercules (mad-city-labs) stages
|
|
# Maps 0-10 from the voltage into the range 0-100 microns.
|
|
#vrpn_Tracker_AnalogFly StageTracker 60.0 absolute
|
|
#X *MCLXYZIN 4 0 0.0 10 1.0
|
|
#Y *MCLXYZIN 5 0 0.0 10 1.0
|
|
#Z *MCLXYZIN 6 0 0.0 10 1.0
|
|
#RX NULL 3 0.0 0.0 1.0 1.0
|
|
#RY NULL 4 0.0 0.0 1.0 1.0
|
|
#RZ NULL 5 0.0 0.0 1.0 1.0
|
|
#RESET NULL 0
|
|
#CLUTCH NULL 0
|
|
|
|
# For a 3DConnexion Traveler named device0
|
|
# You should scale the values for translation w.r.t.
|
|
# rotation to suit your preferences.
|
|
#vrpn_Tracker_AnalogFly Tracker0 60.0 differential
|
|
#X *device0 0 0.0 0.0 2.0 1.0
|
|
#Y *device0 1 0.0 0.0 -2.0 1.0
|
|
#Z *device0 2 0.0 0.0 -2.0 1.0
|
|
#RX *device0 3 0.0 0.0 -0.2 1.0
|
|
#RY *device0 4 0.0 0.0 0.2 1.0
|
|
#RZ *device0 5 0.0 0.0 0.2 1.0
|
|
#RESET *device0 0
|
|
#CLUTCH NULL 0
|
|
|
|
################################################################################
|
|
# XXX This device is superceded by the more-general vrpn_Tracker_AnalogFly.
|
|
# JoyFly Tracker. A vrpn_Tracker that translates the vrpn_Joystick into
|
|
# Walkthrough- convention tracker reports. This is part of a two-part setup
|
|
# that allows you to use a joystick as a flying device. First, a joystick
|
|
# device has to be created (named joybox in our example) that will produce
|
|
# the analog inputs that the JoyFly tracker uses to determine the transformation.
|
|
# Then, the JoyFly device needs to be started and will listen to the device
|
|
# and produce tracker reports. If these are both run on the same server, then
|
|
# the JoyFly needs to use the "server" connection to hear from the Joystick
|
|
# device, which is indicated by placing a '*' in front of the name of the
|
|
# joystick device that it is to use. If the joystick device is remote from
|
|
# this server, then the full name of it should be used (joystick@foo.cs.unc.edu).
|
|
# XXX This device is superceded by the more-general vrpn_Tracker_AnalogFly
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# char source_joystick_name[] (Start with * for one sharing a connection)
|
|
# char joystick_configuration_file_name[]
|
|
|
|
#vrpn_JoyFly walk-joybox *joybox vrpn_Joyfly.cfg
|
|
|
|
################################################################################
|
|
# ButtonFly Tracker. This is a tracker that is intended to be used on top of
|
|
# a Global Haptics Orb or other buttond device to turn it into a moving or
|
|
# flying device. It basically takes in button signals and puts out
|
|
# transformation matrices.
|
|
# There are two kinds of Buttons: absolute ones and differential ones. For
|
|
# absolute ones, pressing it causes the position or orientation associated with
|
|
# it to be stored directly into the transformation. This enables the user to
|
|
# "teleport" to given locations by pressing buttons. For differential ones,
|
|
# the position or orientation are treated as deltas and are used to create a
|
|
# "change" matrix that is applied once per interval, accumulating changes as
|
|
# it goes; this enables the user to "fly" along by holding a button down,
|
|
# for example.
|
|
# Each button is associated with either a position (meters) or speed
|
|
# (meters/second) for absolute buttons; or an orientation (revolutions)
|
|
# or angular velocity (revolutions/second).
|
|
# An analog channel can be associated with a scale function that scales the
|
|
# velocity or angular velocity terms uniformly. The entry specifies an
|
|
# offset to be applied to the analog channel, a scale to be applied to it,
|
|
# and a power to which the result should be taken; the end result is used
|
|
# to scale all velocity or angular velocity terms. This channel has no
|
|
# effect on the effects of absolute buttons.
|
|
# The device will recenter (set itself to the identity transform) when the
|
|
# first connection is made to the server it is running on.
|
|
# Note that you could have multiple of these devices running simultaneously,
|
|
# each with a different name and interaction metaphor. The user could then
|
|
# connect to their favorite one. Arguments:
|
|
# char name_of_this_device[]
|
|
# float update_rate_to_send_tracker_reports
|
|
# [one or more lines follow, each of one of two types
|
|
# (1) char [] = "absolute"
|
|
# char name_of_button_device[] (start with * for local)
|
|
# int which_button_on_device
|
|
# float X_to_translate_to
|
|
# float Y_to_translate_to
|
|
# float Z_to_translate_to
|
|
# float rotation_about_X
|
|
# float rotation_about_Y
|
|
# float rotation_about_Z
|
|
# (2) char [] = "differential"
|
|
# char name_of_button_device[] (start with * for local)
|
|
# int which_button_on_device
|
|
# float X_translation_meters_per_second
|
|
# float Y_translation_meters_per_second
|
|
# float Z_translation_meters_per_second
|
|
# float spin_about_X_revolutions_per_second
|
|
# float spin_about_Y_revolutions_per_second
|
|
# float spin_about_Z_revolutions_per_second
|
|
# ]
|
|
# [An optional line describing an analog to scale the velocity
|
|
# char [] = "vel_scale"
|
|
# char name_of_button_device[] (start with * for local)
|
|
# int which_button_on_device
|
|
# float offset
|
|
# float scale
|
|
# float power
|
|
# ]
|
|
# [An optional line describing an analog to scale the rotation
|
|
# char [] = "rot_scale"
|
|
# char name_of_button_device[] (start with * for local)
|
|
# int which_button_on_device
|
|
# float offset
|
|
# float scale
|
|
# float power
|
|
# ]
|
|
# [one more line, consisting of the word "end"]
|
|
# Note that the same button can cause more than one action to take place,
|
|
# and the same analog can cause scaling of both the velocity and rotation.
|
|
|
|
# This example for a Global Haptics Orb pushes the transformation away
|
|
# from the button that is pressed
|
|
# for all of the standard buttons. It rotates around the Y axis when the
|
|
# rocker switch is rocked up and down. It resets to the origin when one
|
|
# of the pushbuttons is pressed. Both the velocity and angular velocity
|
|
# are controlled by the thumbwheel.
|
|
|
|
#vrpn_Tracker_ButtonFly Tracker0 60.0
|
|
#differential *Orb0 0 0 1 0 0 0 0
|
|
#differential *Orb0 1 0.707 0.707 0 0 0 0
|
|
#differential *Orb0 2 1 0 0 0 0 0
|
|
#differential *Orb0 3 0.707 -0.707 0 0 0 0
|
|
#differential *Orb0 4 0 -1 0 0 0 0
|
|
#differential *Orb0 5 -0.707 -0.707 0 0 0 0
|
|
#differential *Orb0 6 -1 0 0 0 0 0
|
|
#differential *Orb0 7 -0.707 0.707 0 0 0 0
|
|
#differential *Orb0 8 0 0.707 -0.707 0 0 0
|
|
#differential *Orb0 9 0.577 0.577 -0.577 0 0 0
|
|
#differential *Orb0 10 0.707 0 -0.707 0 0 0
|
|
#differential *Orb0 11 0.577 -0.577 -0.577 0 0 0
|
|
#differential *Orb0 12 0 -0.707 -0.707 0 0 0
|
|
#differential *Orb0 13 -0.577 -0.577 -0.577 0 0 0
|
|
#differential *Orb0 14 -0.707 0 -0.707 0 0 0
|
|
#differential *Orb0 15 -0.577 0.577 -0.577 0 0 0
|
|
#differential *Orb0 16 0 0.707 0.707 0 0 0
|
|
#differential *Orb0 17 0.577 0.577 0.577 0 0 0
|
|
#differential *Orb0 18 0.707 0 0.707 0 0 0
|
|
#differential *Orb0 19 0.577 -0.577 0.577 0 0 0
|
|
#differential *Orb0 20 0 -0.707 0.707 0 0 0
|
|
#differential *Orb0 21 -0.577 -0.577 0.577 0 0 0
|
|
#differential *Orb0 22 -0.707 0 0.707 0 0 0
|
|
#differential *Orb0 23 -0.577 0.577 0.577 0 0 0
|
|
#differential *Orb0 24 0 0 -1 0 0 0
|
|
#differential *Orb0 25 0 0 1 0 0 0
|
|
#differential *Orb0 28 0 0 0 0 -0.1 0
|
|
#differential *Orb0 29 0 0 0 0 0.1 0
|
|
#absolute *Orb0 27 0 0 0 0 0 0
|
|
#vel_scale *Orb0 0 -1.0 0.5 1.0
|
|
#rot_scale *Orb0 0 -1.0 0.5 1.0
|
|
#end
|
|
|
|
################################################################################
|
|
# 3Space Tracker. Runs a Polhemus 3Space (not Fastrak) tracker that is attached
|
|
# to a serial port on this machine. Arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_device[]
|
|
# int baud_rate_of_serial_device
|
|
|
|
#vrpn_Tracker_3Space Tracker0 /dev/ttyS0 19200
|
|
|
|
################################################################################
|
|
# Logitech 3DMouse tracker attached to a serial port on this machine.
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_device[]
|
|
# int baud_rate_of_serial_device
|
|
# int filtering_count (this parameter is optional)
|
|
|
|
#vrpn_Tracker_3DMouse Tracker0 /dev/ttyS0 19200
|
|
|
|
################################################################################
|
|
# NDI Polaris Spectra or Vectra, attached to a serial or USB port
|
|
# This server works with the NDI Polaris Spectra and Polaris Vectra
|
|
# trackers. It doesn't work with the Optitrak or Aurora. It only
|
|
# handles rigid bodies made from passive sphere markers, and does
|
|
# not yet support active led markers nor single "stray" passive
|
|
# spheres.
|
|
#
|
|
# Each vrpn "sensor" is a single rigid body (or "tool" in NDI
|
|
# terminology), which consists of 3 or more passive spheres in a
|
|
# particular geometric arrangement. In order to define a custom
|
|
# rigid body (one that didn't come from NDI), you must use the NDI
|
|
# Architect software. That software produces .rom files for each
|
|
# rigid body. This vrpn tracker class will load those files during
|
|
# initialization.
|
|
#
|
|
# Before configuring the vrpn server here, you should first run
|
|
# the NDI software to track the rigid bodies using the NDI's
|
|
# interactive GUI. Only after you have configured and tested the
|
|
# tracker and rigid bodies to your satisfaction, should you try
|
|
# this vrpn server.
|
|
#
|
|
# This currently only handles an IR strobe rate of 60Hz, not
|
|
# 20Hz or 30Hz.
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_device[]
|
|
# int number of sensors (i.e. num of rigid bodies)
|
|
#
|
|
# char rigidBody 0's .rom filename
|
|
# char rigidBody 1's .rom filename
|
|
# char rigidBody 2's ...
|
|
|
|
# vrpn_Tracker_NDI_Polaris Tracker0 COM1 2
|
|
# hello.rom
|
|
# ../world.rom
|
|
|
|
################################################################################
|
|
# CerealBox dial/button/analog. Runs a BG Systems CerealBox device that attaches
|
|
# to a serial port on this machine. As of VRPN version 04.07, 19200 is the
|
|
# only supported baud rate. The driver has been tested on an LV824-F-8e device.
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_device[]
|
|
# int baud_rate_of_serial_device
|
|
# int number_of_buttons_to_read (starting from 0)
|
|
# int number_of_analogs_to_read
|
|
# int number_of_encoders_to_read
|
|
|
|
#vrpn_CerealBox Cereal0 /dev/cua0 19200 8 8 8
|
|
|
|
################################################################################
|
|
# Magellan button/analog. Runs a Logitech Magellan device that attaches
|
|
# to a serial port on this machine. As of VRPN version 04.12, 9600 is the
|
|
# only supported baud rate.
|
|
#
|
|
# The Magellan is also known in some instances as the Magellan SpaceMouse,
|
|
# not to be confused with the 3DConnexion SpaceMouse (later version of the
|
|
# same product).
|
|
# 3DConnexion Magellan/SpaceMouse Plus XT Serial -
|
|
# works with vrpn_Magellan without "altreset" for some.
|
|
# requires "altreset" to avoid lots of beeping at startup for others.
|
|
#
|
|
# Note that if you want to use the Magellan as a tracking device, you will
|
|
# need to run a vrpn_Tracker_AnalogFly device that listens to its analog
|
|
# outputs and converts them into tracker reports
|
|
#
|
|
# John Stone added support for the SpaceBalls in version 06.03, an example
|
|
# startup is shown below.
|
|
#
|
|
# Julien Brisset discovered how to make this work with a slightly older version
|
|
# of the Magellan. If the example Magellan line doesn't work, add 'altreset' to
|
|
# the line to use the alternative reset string for the device.
|
|
#
|
|
# If your Magellan is connected through a usb-serial cable on Mac OS X, use
|
|
# /dev/tty.usbserial, on Linux you may want to try /dev/ttyUSB0 instead.
|
|
#
|
|
# NOTE: You should NOT run the driver that comes with the Magellan, since the
|
|
# VRPN driver opens the serial port and communicates with the device directly.
|
|
# If the Magellan driver from the manufacturer is running, then VRPN may not
|
|
# be able to open the port.
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_device[]
|
|
# int baud_rate_of_serial_device
|
|
# char "altreset" {Optional, for older Magellans}
|
|
|
|
#vrpn_Magellan Magellan0 COM1 9600
|
|
#vrpn_Magellan Magellan0 /dev/ttyS0 9600 altreset
|
|
#vrpn_Spaceball Spaceball0 /dev/ttyS0 9600
|
|
#vrpn_Magellan Magellan0 /dev/tty.usbserial 9600 altreset
|
|
|
|
################################################################################
|
|
# NRL Immersion Box dial/button/analog. Runs a Immersion Interface Box device
|
|
# attached to a serial port. As of March 28, 2000 code to read the analog and
|
|
# angle encoders has not been implemented. Also, baud rate on many SGI's is
|
|
# limited to 38400, but I have run the ibox at 115200 on PCs.
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_device[]
|
|
# int baud_rate_of_serial_device
|
|
# int number_of_buttons_to_read (i.e. 4 ==> 0,1,2,3)
|
|
# int number_of_analogs_to_read
|
|
# int number_of_encoders_to_read
|
|
|
|
#vrpn_ImmersionBox ibox /dev/ttyd2 38400 4 0 0
|
|
#vrpn_ImmersionBox ibox com1 115200 4 0 0
|
|
|
|
################################################################################
|
|
# Wands button/analog, driver from Brown University. Runs a Wanda device
|
|
# attached to a serial port.
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_port_to_use[]
|
|
# int baud_rate_of_serial_device
|
|
# float minimum_update_rate
|
|
|
|
#vrpn_Wanda Wanda /dev/ttyd2 1200 60.0
|
|
#vrpn_Wanda Wanda COM2 1200 60.0
|
|
|
|
################################################################################
|
|
# Radamec Serial Position Interface analog. Camera tracker that attaches
|
|
# to a serial port on this machine. Note that for normal operation, 38400 is the
|
|
# only supported baud rate.
|
|
#
|
|
# Note that if you want to use the Radamec SPI as a tracking device, you will
|
|
# need to run a vrpn_Tracker_AnalogFly device (of the absolute variety)
|
|
# that listens to its analog outputs and converts them into tracker reports.
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_port[]
|
|
# int baud_rate_of_serial_port
|
|
|
|
#vrpn_Radamec_SPI Analog0 /dev/ttyS16 38400
|
|
|
|
################################################################################
|
|
# Zaber linear positioning element analog/out that attaches
|
|
# to a serial port on this machine.
|
|
#
|
|
# Note that if you want to use the Zaber as a tracking device, you will
|
|
# need to run a vrpn_Tracker_AnalogFly device (of the absolute variety)
|
|
# that listens to its analog outputs and converts them into tracker reports.
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_port[]
|
|
|
|
#vrpn_Zaber Analog0 COM1
|
|
|
|
################################################################################
|
|
# Biosciences Tools temperature control unit, analog/out that attaches
|
|
# to a serial port on this machine.
|
|
#
|
|
# This instrument also has a button device that reports whether the
|
|
# temperature control is turned on.
|
|
#
|
|
# Analog channels: (read by client)
|
|
# 0 Reading from stage 1 in degrees Celcius
|
|
# 1 Reading from bath 1 in degrees Celcius
|
|
# 2 Reading external 1 or Setpoint for control in degrees Celcius
|
|
# 3 Reading from stage 2 in degrees Celcius
|
|
# 4 Reading from bath 2 in degrees Celcius
|
|
# 5 Reading external 2 or Setpoint for control in degrees Celcius
|
|
# Button channels: (read by client)
|
|
# 0 Temperature control is on or off
|
|
# Analog_Output channels: (set by client)
|
|
# 0 Reference temperature for channel 1
|
|
# 1 Reference temperature for channel 2
|
|
# 2 Turn temperature control on/off (0 = off, otherwise on)
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_port[]
|
|
# float Temperature to set for channel 1 in degrees Celcius
|
|
# float Temperature to set for channel 2 in degrees Celcius
|
|
# int Do we turn on temperature control (0 = no, 1 = yes)
|
|
|
|
#vrpn_BiosciencesTools Analog0 COM1 37.0 37.0 0
|
|
|
|
################################################################################
|
|
# Omega temperature control unit, analog/out that attaches
|
|
# to a serial port on this machine.
|
|
#
|
|
# This instrument also has a button device that reports whether the
|
|
# temperature control is turned on.
|
|
#
|
|
# XXX Figure out the settings once the code has been finished.
|
|
|
|
#vrpn_OmegaTemerature Analog0 COM1 XXX
|
|
|
|
################################################################################
|
|
# IDEA-drive linear positioning element analog that attaches
|
|
# to a serial port on this machine.
|
|
#
|
|
# Note that if you want to use the IDEA as a tracking device, you will
|
|
# need to run a vrpn_Tracker_AnalogFly device (of the absolute variety)
|
|
# that listens to its analog outputs and converts them into tracker reports.
|
|
#
|
|
# If the drive does not have a limit switch to calibrate against and you need to
|
|
# drive it to one rail to find a zero location, use a nonzero initial_move
|
|
# value to cause a move. To keep it from getting stuck against that limit,
|
|
# change the fractional_c_a value to be less than one -- this will lower
|
|
# both the current and the acceleration/deceleration by this fraction for
|
|
# this initial move. The location of the device is reset to 0 after the
|
|
# move is done.
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_port[]
|
|
# int run_speed_tics_sec
|
|
# int start_speed_tics_sec
|
|
# int end_speed_tics_sec
|
|
# int accel_rate_tics_sec_sec
|
|
# int decel_rate_tics_sec_sec
|
|
# int run_current
|
|
# int hold_current
|
|
# int accel_current
|
|
# int decel_current
|
|
# int delay
|
|
# int step
|
|
# int high_limit_index (-1 for none)
|
|
# int low_limit_index (-1 for none)
|
|
# int output_1_value (0 for off, 1 for on, -1 for don't change)
|
|
# int output_2_value (0 for off, 1 for on, -1 for don't change)
|
|
# int output_3_value (0 for off, 1 for on, -1 for don't change)
|
|
# int output_4_value (0 for off, 1 for on, -1 for don't change)
|
|
# double initial_move (0 for no move)
|
|
# double fractional_c_a (Fraction of full current and acceleration)
|
|
# double reset_location (Where to set location on reset in full ticks)
|
|
|
|
#vrpn_IDEA Analog0 COM1 3200 1200 2000 40000 100000 290 0 290 290 50 8 1 -1 0 0 0 0 0 1.0 -60.0
|
|
#vrpn_IDEA Analog1 COM2 3200 1200 2000 40000 100000 290 0 290 290 50 8 1 -1 0 0 0 0 0 1.0 -60.0
|
|
#vrpn_IDEA Analog2 COM3 3200 1200 2000 40000 100000 290 0 290 290 50 8 1 -1 0 0 0 0 0 1.0 -60.0
|
|
#vrpn_IDEA Analog0 /dev/ttyUSB1 3200 1200 2000 40000 100000 290 0 290 290 50 8 -1 -1 0 0 0 0 10000 0.2 -60.0
|
|
#vrpn_IDEA Analog1 /dev/ttyUSB2 3200 1200 2000 40000 100000 290 0 290 290 50 8 -1 -1 0 0 0 0 10000 0.2 -60.0
|
|
#vrpn_IDEA Analog2 /dev/ttyUSB3 3200 1200 2000 40000 100000 290 0 290 290 50 8 -1 -1 0 0 0 0 10000 0.2 -60.0
|
|
|
|
################################################################################
|
|
# SGI Dial and Button box, raw interface. Runs a dial-and-button box from SGI,
|
|
# talking to it through the raw serial interface (not using the GL interface
|
|
# supplied by SGI). This allows the box to be opened even if there is nobody
|
|
# logged on at the console. Note that to use this on an SGI, you will need to
|
|
# configure the port as a serial device, not as a button device, to get it to
|
|
# run. Arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_device[]
|
|
# [list of buttons to treat as toggles] int button_to_toggle
|
|
|
|
#vrpn_raw_SGIBox Sgibox0 /dev/ttyS0 0 1 2 3
|
|
|
|
################################################################################
|
|
# SGI Dial and Button box, cooked interface. Runs a dial-and-button box from SGI,
|
|
# talking to it through the GL interface supplied by SGI. Note that this can
|
|
# only be used on an SGI, and the serial port must be configured as a dial/button
|
|
# device and the dial/button server from SGI must be running to use it. Arguments:
|
|
# char name_of_this_device[]
|
|
# [list of buttons to treat as toggles] int button_to_toggle
|
|
|
|
#vrpn_SGIBOX Sgibox0 1 2
|
|
|
|
################################################################################
|
|
# UNC Python button device. UNC has developed a custom button input device, which
|
|
# is a 5-button controller that attaches to a parallel port and uses the sense
|
|
# lines to return the state of the buttons. This runs the device. Note that on
|
|
# Windows NT, you need to have installed the GiveIO driver for this code to
|
|
# work. It also works on Linux (no extra drivers needed), but on no other
|
|
# architecture. Arguments:
|
|
# char name_of_this_device[]
|
|
# int parallel_port_to_use_starting_with_1
|
|
# int hexadecimal_io_base_number (default address used if left off)
|
|
|
|
#vrpn_Button_Python Button0 1
|
|
|
|
################################################################################
|
|
# UNC Joystick driver. UNC has developed a custom-build joybox, with 7 analog
|
|
# and 2 button inputs (two 3-axis joysticks and a slider, with a button on top
|
|
# of each joystick). This will drive one of these devices, which attaches to
|
|
# a serial port on this computer. I'm not sure what the baud rate should be;
|
|
# David Harrison might know.
|
|
# This driver can be used in conjunction with the JoyFly driver to produce a
|
|
# tracker that uses the joystick to fly around. Arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_device[]
|
|
# int baud_rate_of_serial_device
|
|
# float minimum_update_rate_from_analogs_even_if_they_dont_move
|
|
|
|
#vrpn_Joystick Joybox0 /dev/ttyd1 19200 10.0
|
|
|
|
################################################################################
|
|
# Linux Joystick. Interface to the Linux Joystick driver by Vojtech Pavlik
|
|
# included in several Linux distributions. The server code has been tested
|
|
# with Linux Joystick driver version 1.2.14. Yet, there is no way how to
|
|
# map a typical joystick's zillion buttons and axes on few buttons and axes
|
|
# really used. Unfortunately, even joysticks of the same kind can have
|
|
# different button mappings from one to another.
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_joystick_device[]
|
|
|
|
#vrpn_Joylin Joylin0 /dev/input/js0
|
|
|
|
################################################################################
|
|
# Fakespace Pinch Glove. Drives a Fakespace Pinch Glove device connected to a
|
|
# serial port on this machine. This device has ten buttons-two hands and five
|
|
# fingers on each hand. Buttons 0-4 are fingers for the right hand-thumb first
|
|
# and pinkie last- while buttons 5-9 are for the left hand-thumb first. The
|
|
# Button is ON when it is touching another finger. Therefore there cannot
|
|
# be just one Button ON. Arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_device[]
|
|
# int baud_rate_of_serial_device
|
|
|
|
#vrpn_Button_PinchGlove PinchGlove0 COM1 9600
|
|
|
|
################################################################################
|
|
# Adrienne Electronics Corporation PCI time code driver. The PCI-VITC board
|
|
# for which this driver was developed reads in VITC time codes from an input
|
|
# signal. This will drive one of these devices.
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
|
|
#vrpn_TimeCode_Generator TimeGen0
|
|
|
|
################################################################################
|
|
# 5DT glove (5 sensors plus optional tilt sensors).
|
|
# Drive a 5dt glove connected on a serial Port. This device uses
|
|
# optical fiber to get the finger position.
|
|
#
|
|
# See also vrpn_5DT16 (16-sensor serial) and vrpn_Analog_5dtUSB (5 or 14-sensor
|
|
# "Ultra" USB/wireless)
|
|
#
|
|
# 2 modes are driven: the first one let the driver get data from the glove
|
|
# when requested (we advise this mode). The second one makes the glove send
|
|
# data continuously. This mode may saturate the input buffer.
|
|
#
|
|
# The manual states that there will be 9 bytes per report, but one group
|
|
# has found that they get an extra one: 0x55 at the end of each report.
|
|
# So, you can choose whether to use 9 (the default) or 10 now.
|
|
# Gesture management is not implemented yet nor the mouse emulation mode
|
|
#
|
|
# The standard baud rate for the "wired" glove is 19200. For a "wireless"
|
|
# glove (which is send-only), even if directly connected, use baud rate
|
|
# 9600. The driver detects this and will adjust its behavior accordingly
|
|
# (forcing on continuous mode and 10-bytes-per-report, ignoring the settings
|
|
# you specify here). If you aren't sure what kind of glove you have, use the
|
|
# Glove Manager app in
|
|
# "5DT Data Glove Series: Full Package for Windows 95/98/NT/2000" downloaded from
|
|
# http://5dt.com/downloads.html and try to connect, it will tell you.
|
|
# Their Glove Manager worked for me on Linux 64-bit with WINE, and is probably the
|
|
# easiest way to find out this info if you don't know it. (Or, just try 9600 if
|
|
# 19200 doesn't work.)
|
|
#
|
|
# Reports the digit bend values in order, channels 1-5, in the range 0.0-1.0,
|
|
# and the tilt sensors in channels 6 and 7 in the range 0 to 180, if available
|
|
#
|
|
# arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_device[]
|
|
# int baud_rate_of_serial_device
|
|
# int mode_of_data_reporting (1 = on request, 2 = continuously)
|
|
# int ten_bytes_per_report (0 = no, use 9; 1 = yes)
|
|
|
|
#vrpn_5dt glove_5dt /dev/ttyS0 19200 1 0
|
|
#vrpn_5dt glove_5dt COM1 19200 1 0
|
|
#vrpn_5dt glove_5dt_wireless /dev/ttyS1 9600 2 1
|
|
|
|
################################################################################
|
|
# NRL Serial Mouse. A device made by wiring buttons in parallel with the buttons
|
|
# on a serial mouse. Both mousesystems or microsoft mouse protocols are
|
|
# supported. Note that the server code makes the connection at the standard
|
|
# 1200 baud. The mouse can be plugged into any serial port -- this driver goes
|
|
# directly through the raw port and does not use the built-in mouse drivers.
|
|
# NOTE: The middle button on the 3button type is toggled by moving the mouse
|
|
# on a surface while not toggling the other two buttons, strange as this may
|
|
# seem. The motion of the mouse is not reported, only the buttons.
|
|
|
|
#vrpn_Button_SerialMouse Button0 /dev/ttyd1 mousesystems
|
|
#vrpn_Button_SerialMouse Button0 COM1 mousesystems
|
|
#vrpn_Button_SerialMouse Button0 COM1 3button
|
|
# For a Linux box with a mouse on port 0
|
|
#vrpn_Button_SerialMouse Button0 /dev/ttyS0 3button
|
|
# For a mac with a Keyspan 4-port serial-to-USB converter
|
|
#vrpn_Button_SerialMouse Button0 /dev/tty.USA49W3b12P1.1 3button
|
|
|
|
################################################################################
|
|
# ReliaSolve Streaming Arduino.
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_device[]
|
|
# int number_of_analogs_to_read
|
|
|
|
#vrpn_Streaming_Arduino sa0 /dev/ttyd2 4
|
|
#vrpn_Streaming_Arduino sa0 COM5 4
|
|
|
|
################################################################################
|
|
# NRL TNG3. (Totally Neat Gadget) A device made by mindtel, available from
|
|
# pulsar.org. Powered off the serial port control lines, the TNG3 has 8 digital
|
|
# and 8 analog inputs. Analog resolution is 8 bits. Baud rate fixed internally
|
|
# at 19200.
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_device[]
|
|
# int number_of_buttons_to_read (i.e. 8 ==> 0,1,2,3,4,5,6,7)
|
|
# int number_of_analogs_to_read
|
|
|
|
#vrpn_Tng3 tng3name /dev/ttyd2 4 0
|
|
#vrpn_Tng3 tng3name com1 8 8
|
|
#vrpn_Tng3 tng3name com1 1 1
|
|
|
|
################################################################################
|
|
# Microsoft DirectX compatible force-feedback joystick (or non-force-feedback
|
|
# joystick).
|
|
# char name_of_this_device[]
|
|
# int number of times per second to read from the device
|
|
# int number of times per second to update force (0 for non-force device)
|
|
|
|
#vrpn_DirectXFFJoystick Joystick0 60 200
|
|
#vrpn_DirectXFFJoystick Joystick0 60 0
|
|
|
|
|
|
################################################################################
|
|
# Microsoft DirectX compatible rumble-pad (e.g. Wingman)
|
|
# char name_of_this_device[]
|
|
|
|
#vrpn_DirectXRumblePad RumblePad0
|
|
|
|
################################################################################
|
|
# Microsoft XInput compatible controller (e.g. Xbox 360 gamepad)
|
|
# char name_of_this_device[]
|
|
# int userIndex (0 for "Player 1", 1 for "Player 2", etc.)
|
|
|
|
#vrpn_XInputGamepad XInput0 0
|
|
|
|
|
|
################################################################################
|
|
# Manager for joysticks under windows using standard win32 calls.
|
|
# for force feedback support, see DirectX joystick above
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# int joystick Id
|
|
# (1 for first joystick JOYSTICKID1 or 2 for second JOYSTICKID2 only)
|
|
# int number of times per second to read from the device
|
|
# int readmode : 0 = raw data;
|
|
# 1 = 0,1 normalized data;
|
|
# 2=-1,1 normalized data
|
|
# int percentage (0 to 100) of deadzone (used mode 1 and 2 only)
|
|
|
|
#vrpn_Joywin32 joyWin32 1 60 2 35
|
|
|
|
################################################################################
|
|
# Global Haptics GeoOrb serial-line device that contains a number of buttons,
|
|
# a thumbwheel, and a trackball. For current devices, only 19200 baud works.
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_device[]
|
|
# int baud_rate_of_serial_device
|
|
|
|
#vrpn_GlobalHapticsOrb Orb0 COM1 19200
|
|
|
|
################################################################################
|
|
# SensAble Technologies Phantom force-feedback device opened using the
|
|
# GHOST software developer's kit. For Phantom Desktop systems, you don't
|
|
# need to have the user establish the reset position. For the Premium models,
|
|
# you do.
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# int establish_reset_position (0 or 1)
|
|
# float rate_to_send_tracker_reports
|
|
# char Name of the Phantom in the configuration control panel
|
|
|
|
#vrpn_Phantom Phantom 0 60.0 Default PHANToM
|
|
|
|
##############################################################################
|
|
# Virtual Presence Joystick tracker device. (http://www.vrweb.com)
|
|
# Use this driver to read the button states,
|
|
# use Flock-of-Birds driver for the position/orientation state
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_device[]
|
|
# int baud_rate_of_serial_device
|
|
|
|
#vrpn_VPJoystick VPJoystick0 /dev/ttyS0 9600
|
|
|
|
################################################################################
|
|
# Advanced Realtime Tracking GmbH (http://www.ar-tracking.de) DTrack client
|
|
#
|
|
# creates as many vrpn_Tracker as there are bodies or Flysticks, starting with the bodies
|
|
# creates 2 analogs per Flystick
|
|
# creates 8 buttons per Flystick
|
|
#
|
|
# NOTE: when using DTrack's older output format for Flystick data ('6df'), the numbering
|
|
# of Flystick buttons differs from DTrack documentation (for compatibility with
|
|
# older vrpn releases)
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# int udp_port (DTrack sends data to this UDP port)
|
|
#
|
|
# Optional arguments:
|
|
# float time_to_reach_joy (in seconds; see below)
|
|
# int number_of_bodies, number_of_flysticks (fixed numbers of bodies and Flysticks)
|
|
# int renumbered_ids[] (vrpn_Tracker IDs of bodies and Flysticks)
|
|
# char "3d" (activates 3dof marker output if available;
|
|
# always last argument if "-" is not present)
|
|
# char "-" (activates tracing; always last argument)
|
|
#
|
|
# NOTE: time_to_reach_joy is the time needed to reach the maximum value (1.0 or -1.0) of the
|
|
# joystick of older 'Flystick' devices when the corresponding button is pressed
|
|
# (one of the last buttons amongst the 8); not necessary for newer 'Flystick2' devices
|
|
# with its analog joystick
|
|
#
|
|
# NOTE: if fixed numbers of bodies and Flysticks should be used, both arguments
|
|
# number_of_bodies and number_of_flysticks have to be set
|
|
#
|
|
# NOTE: renumbering of tracker IDs is only possible, if fixed numbers of bodies and
|
|
# Flysticks are set; there has to be an argument present for each body/Flystick
|
|
|
|
#vrpn_Tracker_DTrack DTrack 5000
|
|
#vrpn_Tracker_DTrack DTrack 5000 -
|
|
#vrpn_Tracker_DTrack DTrack 5000 3d
|
|
#vrpn_Tracker_DTrack DTrack 5000 3d -
|
|
#vrpn_Tracker_DTrack DTrack 5000 0.5
|
|
#vrpn_Tracker_DTrack DTrack 5000 0.5 2 2
|
|
#vrpn_Tracker_DTrack DTrack 5000 0.5 2 2 2 1 0 3
|
|
#vrpn_Tracker_DTrack DTrack 5000 0.5 2 2 2 1 0 3 3d -
|
|
|
|
################################################################################
|
|
# National Instruments Analog Output server. This will open the board whose
|
|
# name is specified, configure the number of channels specified, and set the
|
|
# polarity and maximum voltage range at which to drive the channels.
|
|
#
|
|
# XXX This server is deprecated, please use the vrpn_National_Instruments
|
|
# server listed below.
|
|
#
|
|
# Arguments:
|
|
# char vrpn_name_for_this_device[]
|
|
# char name_of_NI_board[]
|
|
# int number_of_channels
|
|
# int polarity : 0 = unipolar, 1 = bipolar
|
|
# float min_voltage
|
|
# float max_voltage
|
|
|
|
#vrpn_NI_Analog_Output Analog_XY DAQCard-6036E 2 0 -10.0 10.0
|
|
#vrpn_NI_Analog_Output Analog_ZTweeze DAQCard-6036E 2 0 -10.0 10.0
|
|
#vrpn_NI_Analog_Output Analog_XYZ PCI-6733 3 0 -10.0 10.0
|
|
|
|
################################################################################
|
|
# National Instruments A/D, D/A Analog and Analog Output server. This will open
|
|
# the board whose name is specified, configure the number of channels specified,
|
|
# and set the polarity and maximum voltage range at which to read and
|
|
# drive the channels.
|
|
##
|
|
# Arguments:
|
|
# char vrpn_name_for_this_device[]
|
|
# char name_of_NationalInstruments_board[]
|
|
# int number_of_input_channels (can be zero)
|
|
# float mininum_delay_between_Analog_Reports (zero for fastest)
|
|
# int input_polarity : 0 = unipolar, 1 = bipolar
|
|
# int input_mode : 0 = differential, 1 = ref single-end, 2 = non-ref SE
|
|
# int input_range : 5 = 5v, 10 = 10v, 20 = 20v
|
|
# int input_drive_ais : 0 = no, 1 = yes
|
|
# int input_gain
|
|
# int number_of_output_channels (can be zero)
|
|
# int output_polarity : 0 = unipolar, 1 = bipolar
|
|
# float min_out_voltage (used to guard against overdriving devices)
|
|
# float max_out_voltage (used to guard against overdriving devices)
|
|
|
|
# Input example
|
|
#vrpn_National_Instruments MCLXYZIN PCI-6052E 7 0 0 0 10 0 1 0 0 -10.0 10.0
|
|
# Output examples
|
|
#vrpn_National_Instruments MCLXYZOUT PCI-6733 0 0 0 0 10 0 1 3 0 0.0 10.0
|
|
#vrpn_National_Instruments Analog_XY DAQCard-6036E 0 0 0 0 10 0 1 2 1 -10.0 10.0
|
|
|
|
################################################################################
|
|
# Analog Poser. This is a poser that is intended to be used on top of
|
|
# an analog output (perhaps a National Instruments board), whose outputs
|
|
# directly drive the position of some actuated stage. It could be used on top
|
|
# of any analog output device, in fact. This device basically takes in poses
|
|
# and puts out analog outputs.
|
|
# One analog channel is associated with each axis (X, Y, Z) and rotation about
|
|
# each axis (RX, RY, RZ). For each axis, the position (meters) is converted into
|
|
# a voltage; the orientation is mapped from a quaternion into Euler angles and
|
|
# each of the Euler angles is converted into a voltage (XXX Orientation is not yet
|
|
# implemented; the RX,RY, and RZ values must be specified but they are not used).
|
|
# XXX Velocity and orientation velocity are not yet supported.
|
|
# Any axis can be disabled by setting the name of its associated device to the
|
|
# string "NULL".
|
|
#
|
|
# Arguments:
|
|
# char vrpn_name_for_this_device[]
|
|
# int send_tracker_reports
|
|
# [six lines follow, one for X Y Z RX RY RZ, each with:
|
|
# char axis_name[] (X Y Z RX RY RZ in that order)
|
|
# char vrpn_name_of_the_analog_output_to_use[]
|
|
# (Preface with a * if it uses the same connection)
|
|
# int channel_of_analog_output_device (First channel is channel 0)
|
|
# float offset
|
|
# float scale
|
|
# float min_value of workspace
|
|
# float max_value of workspace
|
|
# ]
|
|
|
|
#vrpn_Poser_Analog Poser0 1
|
|
#X *Analog_XY 0 0.0 1.0 -10 10
|
|
#Y *Analog_XY 1 0.0 1.0 -10 10
|
|
#Z *Analog_ZTweeze 0 0.0 1.0 -10 10
|
|
#RX NULL 0 0.0 1.0 -10 10
|
|
#RY NULL 0 0.0 1.0 -10 10
|
|
#RZ NULL 0 0.0 1.0 -10 10
|
|
|
|
# Poser to drive Mad City Labs stage from an input value of
|
|
# 0 to 100 microns to an output (through a National Instruments
|
|
# D/A card) of 0-10 volts.
|
|
#vrpn_Poser_Analog Poser0 1
|
|
#X *MCLXYZOUT 0 0.0 0.1 0 100
|
|
#Y *MCLXYZOUT 1 0.0 0.1 0 100
|
|
#Z *MCLXYZOUT 2 0.0 0.1 0 100
|
|
#RX NULL 0 0.0 1.0 -10 10
|
|
#RY NULL 0 0.0 1.0 -10 10
|
|
#RZ NULL 0 0.0 1.0 -10 10
|
|
|
|
################################################################################
|
|
# Nikon microscope connected to PC via serial port. Currently only controls
|
|
# the focus of the microscope using an analogout and reads the focus position
|
|
# using an analog.
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_device[]
|
|
|
|
#vrpn_nikon_controls nikon COM1
|
|
|
|
################################################################################
|
|
# Tektronix 4662 plotter. Attaches to a serial port. Acts as both a poser and
|
|
# a tracker. Reports positions 4x per second plus when a move command completes.
|
|
# Multiple move commands issued before they complete will result in only the last
|
|
# one being executed.
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_serial_device[]
|
|
# int baud_rate_of_serial_device
|
|
|
|
#vrpn_Tek4662 Tek4662 COM1 1200
|
|
|
|
###############################################################################
|
|
# keyboard and mouse button is a tracker with button system
|
|
# XXX These have been removed and replaced with vrpn_Mouse
|
|
# and vrpn_Keyboard. Use the clutch option on vrpn_AnalogFly to
|
|
# replicate the mouse behavior. The vrpn_Keyboard does not
|
|
# enable key mapping, just sends all of the keys' scancodes
|
|
# through.
|
|
|
|
################################################################################
|
|
# US Digital A2 Absolute Encoder Analog Input server. This will open the COM
|
|
# port specified, configure the number of channels specified, and report
|
|
# Absolute Encoder values in tenths of a degree from 0 to 3599.
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# int COM_port. If 0, search for correct COM port.
|
|
# int number_of_channels
|
|
# int 0 to report always, 1 to report on change only (optional, default=0)
|
|
|
|
#vrpn_Analog_USDigital_A2 Analog0 1 2
|
|
|
|
################################################################################
|
|
# This is a driver for National Instruments DAQCard-
|
|
# DIO-24, a PCMCIA card, which provides 24-bit digital I/O.
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# int number_of_channls to read: 1-24 (optional. default=24).
|
|
|
|
#vrpn_Button_NI_DIO24 Button0 1
|
|
|
|
##############################################################################
|
|
# PhaseSpace Impulse system. This device type is not compiled by default, since
|
|
# it uses a proprietary library. However, you can get it to compile by
|
|
# defining VRPN_INCLUDE_PHASESPACE and including the appropriate libraries
|
|
# and headers when compiling (See vrpn_Configure.h).
|
|
#
|
|
# Arguments:
|
|
# char tracker_name[] # Tracker0, Tracker1, ... etc
|
|
# [Additional lines specifying tracker configuration]
|
|
#
|
|
# The section following the Tracker declaration is a tag delimited set of
|
|
# lines which specify system configuration and vrpn sensors. The section begins
|
|
# with an <owl> tag and ends with a </owl> tag. Each tag must be on a separate
|
|
# line. (see below)
|
|
#
|
|
# Each line in the specification section is a white-space separated set of
|
|
# key-value pairs. At most one sensor is defined per line. The sensor and type
|
|
# keys are mandatory. Other keys are are required based on the type.
|
|
#
|
|
# Comments can be embedded with the '#' character.
|
|
#
|
|
# Example:
|
|
#
|
|
# vrpn_Tracker_PhaseSpace Tracker0
|
|
# <owl>
|
|
# device="192.168.1.1"
|
|
# frequency=960
|
|
# slave=0
|
|
# drop_frames=0
|
|
# scale=0.001
|
|
# debug=0
|
|
#
|
|
# sensor=0 type=point tracker=0 led=0 # this is a comment
|
|
# sensor=1 type=point tracker=0 led=1 # map sensor 1 to led 1 on tracker 0
|
|
#
|
|
# sensor=2 type=rigid_body tracker=1 # designate tracker 1 as a rigid body on sensor 2
|
|
# sensor=3 type=point tracker=1 led=2 pos=0,0,0 # add led 2 to rigid body on tracker 1
|
|
# sensor=4 type=point tracker=1 led=3 pos=100,0,0 # add led 3 to rigid body on tracker 1
|
|
# sensor=5 type=point tracker=1 led=4 pos=0,100,0 # add led 4 to rigid body on tracker 1
|
|
# sensor=6 type=point tracker=1 led=5 pos=0,0,100 # add led 5 to rigid body on tracker 1
|
|
# </owl>
|
|
#
|
|
# Key Definitions
|
|
# ======================
|
|
#
|
|
# device
|
|
# A string specifying the IP address of the Impulse server to connect to.
|
|
#
|
|
# frequency
|
|
# A floating-point number specifying the system streaming frequency.
|
|
# Usually 480 or 960.
|
|
#
|
|
# slave
|
|
# An integer specifying whether to enable slave mode.
|
|
# Set to 0 to disable, 1 to enable. If slave mode is enabled, unspecified
|
|
# markers are assigned an arbitrary sensor number.
|
|
#
|
|
# drop_frames
|
|
# An integer. Set to zero to disable. Specifying 1 for drop_frames will
|
|
# cause the server to drop frames in order to get the most recent data on
|
|
# every run through the mainloop. This may be desirable for most VR
|
|
# applications and for slower machines.
|
|
#
|
|
# debug
|
|
# An integer. Zero to disable. Specifying 1 for debug will cause the server
|
|
# to print out verbose debugging output.
|
|
#
|
|
# scale
|
|
# The floating-point factor to scale incoming positional data by. The default
|
|
# is 0.001.
|
|
#
|
|
# sensor
|
|
# The vrpn sensor number.
|
|
#
|
|
# type
|
|
# A string which specifies what type the sensor is. Required if sensor is
|
|
# specified. The following types are supported:
|
|
# point
|
|
# rigid
|
|
# rigid_body (deprecated)
|
|
#
|
|
# tracker
|
|
# An integer which specifies The Impulse tracker id of an led or rigid body.
|
|
# Required if type is "point" or "rigid".
|
|
#
|
|
# led
|
|
# An integer which specifies the led id of a sensor.
|
|
# Required if type is "point".
|
|
#
|
|
# pos
|
|
# An optional comma-separated list of three floating-point numbers specifying
|
|
# the 3D position of a marker on a rigid body. No spaces. Valid if type is
|
|
# "point". Specifying positions is only valid if the tracker number is set
|
|
# to a rigid body. The units MUST be in millimeters, regardless of scale
|
|
# setting.
|
|
#
|
|
# init
|
|
# An optional comma-separated list of four floating-point numbers specifying
|
|
# kalman parameters for a rigid body. Valid if type is "rigid_body".
|
|
#
|
|
#
|
|
# For support, questions, comments, or bug reports please send emails
|
|
# to: support@phasespace.com
|
|
#
|
|
#vrpn_Tracker_PhaseSpace Tracker0
|
|
#<owl>
|
|
#device="192.168.1.230"
|
|
#frequency=480
|
|
#slave=0
|
|
#drop_frames=0
|
|
#scale=0.001
|
|
#sensor=0 type=point led=0
|
|
#sensor=1 type=point led=1
|
|
#sensor=2 type=point led=2
|
|
#sensor=3 type=point led=3
|
|
#sensor=4 type=point led=4
|
|
#sensor=5 type=point led=5
|
|
#sensor=6 type=point led=6
|
|
#sensor=7 type=point led=7
|
|
#</owl>
|
|
|
|
################################################################################
|
|
# Generic Auxiliary Logger. This is a server that will listen for requests to
|
|
# produce additional log files and the name of the connection it should make the
|
|
# log files for. It can only have one set of such logs open (can be more than
|
|
# one log but all for the same connection). There are two arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_connection_to_log
|
|
|
|
#vrpn_Auxiliary_Logger_Server_Generic Logger0 localhost
|
|
|
|
################################################################################
|
|
# Imager Stream Buffer. This is a server that will listen for requests to
|
|
# produce additional log files and the name of the connection it should make the
|
|
# log files for. It can only have one set of such logs open (can be more than
|
|
# one log but all for the same connection). The "local" log files are with
|
|
# respect to the machine where this server is running, and the "remote" ones
|
|
# are with respect to the vrpn_Imager_Server it has connected to (which may
|
|
# be on yet a third machine compared to the client machine).
|
|
# There are two arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_imager_server_to_log
|
|
|
|
#vrpn_Imager_Stream_Buffer ImageStream0 TestImage@localhost
|
|
|
|
################################################################################
|
|
# controllers from Futaba. There is one device we have
|
|
# drivers for. The only argument is the name of the device to open.
|
|
#
|
|
# For Interlink Elite:
|
|
# Analog channel assignments:
|
|
# 0=rudder (left joy X)
|
|
# 1=throttle (left joy Y)
|
|
# 2=aileron (right joy X)
|
|
# 3=elevator (right joy Y)
|
|
# 4=Ch6 Flaps Gain
|
|
# Button number assignments:
|
|
# 0=Ch5 fwd
|
|
# 1=Ch7 fwd
|
|
# 2=reset
|
|
# 3=Ch8 down
|
|
# 4=Ch8 up
|
|
# 5=<none>
|
|
# 6=menu/select
|
|
# 7=cancel
|
|
# Next eight are for the trim buttons
|
|
# 8=aileron right
|
|
# 9=aileron left
|
|
# 10=elevator up
|
|
# 11=elevator down
|
|
# 12=rudder right
|
|
# 13=rudder left
|
|
# 14=throttle up
|
|
# 15=throttle down
|
|
# Next two are options button
|
|
# 16=up
|
|
# 17=down
|
|
#
|
|
# There is one argument:
|
|
# char name_of_this_device[]
|
|
|
|
#vrpn_Futaba_InterLink_Elite futaba0
|
|
|
|
################################################################################
|
|
# controllers from Griffin Technology. There is one device we have
|
|
# drivers for. The only argument is the name of the device to open.
|
|
#
|
|
# For PowerMate:
|
|
# Analog channel assignments:
|
|
# none
|
|
# Button number assignments:
|
|
# 0=only button
|
|
# Dial assignments:
|
|
# 0=only dial
|
|
#
|
|
# There is one argument:
|
|
# char name_of_this_device[]
|
|
|
|
#vrpn_Griffin_PowerMate griffin0
|
|
|
|
################################################################################
|
|
# controllers from Retrolink. There is one device we have
|
|
# drivers for. The only argument is the name of the device to open.
|
|
#
|
|
# For GameCube:
|
|
# Analog channel assignments:
|
|
# 0=Left joystick X axis; -1 = left, 1 = right
|
|
# 1=Left joystick Y axis; -1 = up, 1 = down
|
|
# 2=Right joystick X axis; -1 = left, 1 = right
|
|
# 3=Right joystick Y axis; -1 = up, 1 = down
|
|
# 4=Left rocker switch angle in degrees (-1 if nothing is pressed)
|
|
# Button number assignments:
|
|
# 0=Y
|
|
# 1=X
|
|
# 2=A
|
|
# 3=B
|
|
# 4=left trigger
|
|
# 5=right trigger
|
|
# 6=Z
|
|
# 7=Start/pause
|
|
# Buttons 8-11 are duplicate mappings for the rocker-switch; both
|
|
# these and the analog angle in degrees will change as they are pressed
|
|
# 8 = up
|
|
# 9 = right
|
|
# 10 = down
|
|
# 11 = left
|
|
#
|
|
# For Genesis:
|
|
# Analog channel assignments:
|
|
# 0=Rocker switch angle in degrees (-1 if nothing is pressed)
|
|
# Button number assignments:
|
|
# 0=A
|
|
# 1=B
|
|
# 2=C
|
|
# 3=X
|
|
# 4=Y
|
|
# 5=Z
|
|
# 6=Mode
|
|
# 7=Start
|
|
# Buttons 8-11 are duplicate mappings for the rocker-switch; both
|
|
# these and the analog angle in degrees will change as they are pressed
|
|
# 8 = up
|
|
# 9 = right
|
|
# 10 = down
|
|
# 11 = left
|
|
#
|
|
# There is one argument:
|
|
# char name_of_this_device[]
|
|
|
|
# vrpn_Retrolink_GameCube retrolink0
|
|
# vrpn_Retrolink_Genesis retrolink0
|
|
|
|
################################################################################
|
|
# Controllers from Contour Design. There are two devices we have
|
|
# drivers for. The only argument is the name of the device to open.
|
|
#
|
|
# Dial: Moves in 0.1-revolution steps.
|
|
#
|
|
# Analogs:
|
|
# analog[0] is the shuttle, which goes from -1 to 1
|
|
# analog[1] integrates the dial, with 1 meaning a full revolution
|
|
#
|
|
# Buttons on the ShuttlePROv2:
|
|
# Top row, left to right: buttons 0-3
|
|
# Second row: Buttons 4-8
|
|
# Four grey buttons below, left to right (two rows): 9-10, 11-12
|
|
# Black buttons, left to right: 13-14
|
|
#
|
|
# For ShuttleXpress and ShuttlePROv2:
|
|
#
|
|
# There is one argument:
|
|
# char name_of_this_device[]
|
|
|
|
#vrpn_Contour_ShuttleXpress contour0
|
|
#vrpn_Contour_ShuttlePROv2 contour0
|
|
|
|
################################################################################
|
|
# controllers from Microsoft. The devices we have drivers for are listed below.
|
|
# The only argument is the name of the device to open.
|
|
#
|
|
# These show up as JoyLin devices under Linux and cannot be opened raw when
|
|
# that interface is running.
|
|
#
|
|
# These do not provide any raw inputs when run on a Mac with OS 11.6.5.
|
|
#
|
|
# For SideWinder Precision 2 joystick
|
|
# Analog channel assignments:
|
|
# 0=joystick X
|
|
# 1=joystick Y
|
|
# 2=Z rotate
|
|
# 3=slider
|
|
# 4=Point of View Hat heading (-1=nothing, 0=North, 45=Northeast, etc.)
|
|
# Button number assignments
|
|
# 0=1
|
|
# 1=2
|
|
# 2=3
|
|
# 3=4
|
|
# 4=5
|
|
# 5=6
|
|
# 6=7
|
|
# 7=8
|
|
# Next four are point of view hat buttons
|
|
# 8=Up
|
|
# 9=Right
|
|
# 10=Down
|
|
# 11=Left
|
|
#
|
|
# For SideWinder joystick
|
|
# Analog channel assignments:
|
|
# 0=joystick X
|
|
# 1=joystick Y
|
|
# 2=slider
|
|
# Button number assignments
|
|
# 0=1
|
|
# 1=2
|
|
# 2=3
|
|
# 3=4
|
|
# 4=5
|
|
# 5=6
|
|
# 6=7
|
|
# 7=8
|
|
#
|
|
# For Xbox Controller S:
|
|
# Requires USB cable and special driver.
|
|
# Analog channel assignments:
|
|
# 0=left joystick X
|
|
# 1=left joystick Y
|
|
# 2=right joystick X
|
|
# 3=right joystick Y
|
|
# 4=Point of View Hat heading (-1=nothing, 0=North, 45=Northeast, etc.)
|
|
# Button number assignments
|
|
# 0=A
|
|
# 1=B
|
|
# 2=X
|
|
# 3=Y
|
|
# 4=Black
|
|
# 5=White
|
|
# 6=Start
|
|
# 7=Back
|
|
# 8=left joystick
|
|
# 9=right joytick
|
|
# 10=left trigger
|
|
# 11=right trigger
|
|
# Next four are point of view hat buttons
|
|
# 12=Up
|
|
# 13=Right
|
|
# 14=Down
|
|
# 15=Left
|
|
#
|
|
# For Xbox 360 Controller:
|
|
# Analog channel assignments:
|
|
# 0=left joystick X
|
|
# 1=left joystick Y
|
|
# 2=right joystick X
|
|
# 3=right joystick Y
|
|
# 4=triggers (left goes positive, right goes negative)
|
|
# 5=Point of View Hat heading (-1=nothing, 0=North, 45=Northeast, etc.)
|
|
# Button number assignments
|
|
# 0=A
|
|
# 1=B
|
|
# 2=X
|
|
# 3=Y
|
|
# 4=left bump
|
|
# 5=right bump
|
|
# 6=Back
|
|
# 7=Start
|
|
# 8=left joystick
|
|
# 9=right joytick
|
|
# Next four are point of view hat buttons
|
|
# 10=Up
|
|
# 11=Right
|
|
# 12=Down
|
|
# 13=Left
|
|
#
|
|
# There is one argument:
|
|
# char name_of_this_device[]
|
|
|
|
#vrpn_Microsoft_SideWinder_Precision_2 microsoft0
|
|
#vrpn_Microsoft_SideWinder microsoft0
|
|
#vrpn_Microsoft_Controller_Raw_Xbox_S microsoft0
|
|
#vrpn_Microsoft_Controller_Raw_Xbox_360 microsoft0
|
|
#vrpn_Microsoft_Controller_Raw_Xbox_360_Wireless microsoft0
|
|
#vrpn_Afterglow_Ax1_For_Xbox_360 microsoft0
|
|
|
|
################################################################################
|
|
# X-Keys devices from P.I. Engineering. There are several devices we have
|
|
# drivers for. The only argument is the name of the device to open. The Pro
|
|
# and Joystick models have not been tested. The XK3 is a 3-button foot pedal.
|
|
#
|
|
# There is one argument:
|
|
# char name_of_this_device[]
|
|
|
|
#vrpn_Xkeys_Desktop xkeys0
|
|
#vrpn_Xkeys_Pro xkeys0
|
|
#vrpn_Xkeys_Joystick xkeys0
|
|
#vrpn_Xkeys_Joystick12 xkeys0
|
|
#vrpn_Xkeys_Jog_And_Shuttle xkeys0
|
|
#vrpn_Xkeys_Jog_And_Shuttle12 xkeys0
|
|
#vrpn_Xkeys_Jog_And_Shuttle68 xkeys0
|
|
#vrpn_Xkeys_XK3 xkeys0
|
|
|
|
################################################################################
|
|
# controllers from Logitech other than 3Dconnexion which is listed separately.
|
|
# The devices we have drivers for are listed below.
|
|
# The only argument is the name of the device to open.
|
|
#
|
|
# For Extreme 3D Pro joystick
|
|
# Analog channel assignments:
|
|
# 0=joystick X
|
|
# 1=joystick Y
|
|
# 2=Z rotate
|
|
# 3=slider
|
|
# 4=Point of View Hat heading (-1=nothing, 0=North, 45=Northeast, etc.)
|
|
# Button number assignments
|
|
# 0=1
|
|
# 1=2
|
|
# 2=3
|
|
# 3=4
|
|
# 4=5
|
|
# 5=6
|
|
# 6=7
|
|
# 7=8
|
|
# 8=9
|
|
# 9=10
|
|
# 10=11
|
|
# 11=12
|
|
# Next four are point of view hat buttons
|
|
# 12=Up
|
|
# 13=Right
|
|
# 14=Down
|
|
# 15=Left
|
|
#
|
|
# There is one argument:
|
|
# char name_of_this_device[]
|
|
|
|
#vrpn_Logitech_Extreme_3D_Pro logitech0
|
|
|
|
################################################################################
|
|
# controllers from Saitek.
|
|
# The devices we have drivers for are listed below.
|
|
# The only argument is the name of the device to open.
|
|
#
|
|
# For ST290 Pro joystick
|
|
# Analog channel assignments:
|
|
# 0=joystick X
|
|
# 1=joystick Y
|
|
# 2=Z rotate
|
|
# 3=slider
|
|
# 4=Point of View Hat heading (-1=nothing, 0=North, 45=Northeast, etc.)
|
|
# Button number assignments
|
|
# 0=1
|
|
# 1=2
|
|
# 2=3
|
|
# 3=4
|
|
# 4=5
|
|
# 5=6
|
|
# 6=7
|
|
# Next four are point of view hat buttons
|
|
# 7=Up
|
|
# 8=Right
|
|
# 9=Down
|
|
# 10=Left
|
|
#
|
|
# There is one argument:
|
|
# char name_of_this_device[]
|
|
|
|
#vrpn_Saitek_ST290_Pro saitek0
|
|
|
|
################################################################################
|
|
# controllers from CH products.
|
|
# The devices we have drivers for are listed below.
|
|
# The only argument is the name of the device to open.
|
|
#
|
|
# For Fighterstick USB joystick
|
|
# Analog channel assignments:
|
|
# 0=joystick X
|
|
# 1=joystick Y
|
|
# 2=throttle wheel
|
|
# 3=Point of View Hat heading (buttons 4-7: -1=nothing, 0=North, 45=Northeast, etc.)
|
|
# 4=Hat heading (buttons 8-11: -1=nothing, 0=North, 90=East, etc.)
|
|
# 5=Hat heading (buttons 12-15: -1=nothing, 0=North, 90=East, etc.)
|
|
# 6=Mode (buttons 2, 16-18): 0=unknown, 1=red, 2=yellow, 3=green)
|
|
# 7=Hat heading (buttons 20-23: -1=nothing, 0=North, 90=East, etc.)
|
|
#
|
|
# Button number assignments
|
|
# 0=trigger
|
|
# 1=top red button
|
|
# 2=red button using index finger (see 16, 17, & 18)
|
|
# 3=pinky red button
|
|
# Next four are on 8-way POV hat: upper right on top
|
|
# 4=up
|
|
# 5=right
|
|
# 6=down
|
|
# 7=left
|
|
# Next four are on 4-way hat #2: lower right on top
|
|
# 8=up
|
|
# 9=right
|
|
# 10=down
|
|
# 11=left
|
|
# Next four are on 4-way hat #1: left on top
|
|
# 12=up
|
|
# 13=right
|
|
# 14=down
|
|
# 15=left
|
|
# Next three are modes triggered by button 2.
|
|
# Mode LEDs show the color listed below when pressed, but releasing with advance the color to the next in the series.
|
|
# These "buttons" are all released when unknown. Once the mode is known, one button will always be considered pressed.
|
|
# 16=green
|
|
# 17=red
|
|
# 18=yellow
|
|
# 19=
|
|
# Next four are on 4-way hat #3: thumb
|
|
# 20=Up
|
|
# 21=Right
|
|
# 22=Down
|
|
# 23=Left
|
|
#
|
|
# There is one argument:
|
|
# char name_of_this_device[]
|
|
|
|
#vrpn_CHProducts_Fighterstick_USB chproducts0
|
|
|
|
################################################################################
|
|
# Space Navigator, Space Traveler, and Space Mouse devices from 3DConnexion.
|
|
# 3Dconnexion is actually made by Logitech.
|
|
# Not to be confused with the Magellan Space Mouse, for which there is
|
|
# a Magellan driver.
|
|
# The only argument is the name of the device to open.
|
|
#
|
|
# There is one argument:
|
|
# char name_of_this_device[]
|
|
#
|
|
# For the SpaceMouse Pro:
|
|
# Analog channel assignments:
|
|
# 0=x
|
|
# 1=y
|
|
# 2=z
|
|
# 3=pitch
|
|
# 4=roll
|
|
# 5=yaw
|
|
# Button number assignments:
|
|
# (the ones similar to <x> have a graphic on the button and are referred to the text enclosed text in the help)
|
|
# 0=Menu
|
|
# 1=Fit
|
|
# 2=<T>
|
|
# 4=<R>
|
|
# 5=<F>
|
|
# 8=<Roll+>
|
|
# 12=1
|
|
# 13=2
|
|
# 14=3
|
|
# 15=4
|
|
# 22=Esc
|
|
# 23=Alt
|
|
# 24=Shift
|
|
# 25=Ctrl
|
|
# 26=<Rot>
|
|
#
|
|
# On Linux, make sure the HID and evdev drivers are running so that these
|
|
# devices will be recognized:
|
|
# Start a separate Root shell:
|
|
# cd .../vrpn/server_src/pc_linux
|
|
# lsmod
|
|
# modprobe evdev
|
|
# modprobe hid
|
|
# lsmod
|
|
# (check that evdev and hid are running)
|
|
# On RedHat Linux, you need the have libusb1-devel installed and configure
|
|
# the system for VRPN_USE_LOCAL_HIDAPI to get these to work.
|
|
|
|
#vrpn_3DConnexion_Navigator device0
|
|
#vrpn_3DConnexion_Navigator_for_Notebooks device0
|
|
#vrpn_3DConnexion_Traveler device0
|
|
#vrpn_3DConnexion_SpaceMouse device0
|
|
#vrpn_3DConnexion_SpaceMousePro device0
|
|
#vrpn_3DConnexion_SpaceMouseCompact device0
|
|
#vrpn_3DConnexion_SpaceMouseWireless device0
|
|
#vrpn_3DConnexion_SpaceMouseProWireless device0
|
|
#vrpn_3DConnexion_SpaceExplorer device0
|
|
#vrpn_3DConnexion_SpaceBall5000 device0
|
|
#vrpn_3DConnexion_SpacePilot spacepilot
|
|
#vrpn_3DConnexion_SpacePilotPro spacepilotpro
|
|
|
|
################################################################################
|
|
# Open the mouse as an analog and button devices. There is an implementation
|
|
# under Windows and another under Linux (using GPM). There are two analog
|
|
# channels, reporting in the range [0..1] as the mouse moves across the screen.
|
|
# There are 3 button channels: left, middle, right.
|
|
#
|
|
# There is one argument:
|
|
# char name_of_this_device[]
|
|
|
|
#vrpn_Mouse Mouse0
|
|
|
|
################################################################################
|
|
# Open the keyboard as a button device. There is an implementation
|
|
# under Windows. There are 256 buttons, and they are triggered according
|
|
# to the scan code that they represent.
|
|
#
|
|
# There is one argument:
|
|
# char name_of_this_device[]
|
|
|
|
#vrpn_Keyboard Keyboard0
|
|
|
|
################################################################################
|
|
# WARNING : LINUX ONLY !
|
|
# Open the /dev/input devices and treat them as mouse events
|
|
# There is as many as available channel (kernel 2.6.38 : 10 channels)
|
|
#
|
|
# There is three argument:
|
|
# char name_of_this_device[]
|
|
# char "name of the hardware device"
|
|
# char type of the device (must be one of "keyboard", "absolute" and "relative"
|
|
# int in case of keyboard : the total number of keys ; in case of absolute mouse : size of the window (ie. to normalize the result)
|
|
# The "name of the hardware device" is the Name entry of the device
|
|
# from /proc/bus/input/devices
|
|
# Due to hardware access through /dev/input/*, there is no notion of window.
|
|
# Thus, you must specify the window size. If '-1' is provided, then, this device
|
|
# only provide relative displacement of the channel
|
|
#
|
|
# Keyboard are standard keyboard (ie : the one on which you type elements
|
|
# Absolute are pointing devices such as touchpad : the position of the pointer is absolute regarding the size of the touch pad
|
|
# Relative are pointing devices such as mouse : the position of the pointer is a relative displacement regarding previous position
|
|
#
|
|
# BEWARE that you must have read access to the wanted device
|
|
|
|
#vrpn_DevInput Input0 "AT Translated keyboard" keyboard 255
|
|
#vrpn_DevInput Input0 "USB Optical Mouse" relative -1
|
|
|
|
################################################################################
|
|
# MotionNode inertial tracking system.
|
|
#
|
|
# There are four arguments:
|
|
# char name_of_this_device[]
|
|
# int num_sensors
|
|
# char address
|
|
# int port
|
|
|
|
#vrpn_Tracker_MotionNode Tracker0 1 127.0.0.1 32079
|
|
|
|
################################################################################
|
|
# GPS device.
|
|
# This driver reads a GPS connected to the serial port at a given baud rate, and looks for
|
|
# the NMEA message providing long/lat/alt, which get copied into x/y/z
|
|
# respectively (of the position). Should do a lot more (e.g., get velocity,
|
|
# bearing, perhaps convert to UTM). But, for now, this is all it does.
|
|
|
|
# Open a GPS on MACOSX at 4800 baud
|
|
|
|
#vrpn_Tracker_GPS Tracker0 /dev/tty.KeySerial1 4800
|
|
#vrpn_Tracker_GPS Tracker0 /dev/tty.HOLUXGPSlim236-SPPslave-1 4800
|
|
|
|
#on windows
|
|
#vrpn_Tracker_GPS Tracker0 COM1 4800
|
|
|
|
################################################################################
|
|
# Nintendo Wii Remote Controller
|
|
# char name_of_this_device[]
|
|
# int userIndex (1 for "Player 1", 2 for "Player 2", etc.)
|
|
# int useMotionSensing
|
|
# int useIR
|
|
# int reorderButtons (set to make button ids somewhat more sensible)
|
|
# char bluetooth_address[] (optional, only supported on Linux - upper case,
|
|
# include colons)
|
|
|
|
#vrpn_WiiMote WiiMote0 1 0 0 1
|
|
|
|
################################################################################
|
|
# Two-LED head tracking using Wii Remote Controller
|
|
# char name_of_this_device[]
|
|
# char name_of_vrpn_WiiMote_device[]
|
|
# float min_update_rate (default=60)
|
|
# float led_distance (default=0.205)
|
|
#
|
|
# Note: The WiiMote device must have useMotionSensing = 1 and useIR = 1
|
|
|
|
#vrpn_WiiMote WiiMote0 1 1 1 1
|
|
#vrpn_Tracker_WiimoteHead Tracker0 WiiMote0@localhost
|
|
|
|
################################################################################
|
|
# Novint Falcon attached to USB.
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# int device index (starts at 0)
|
|
# char name_of_grip (optional, default and only one supported now = "4-button")
|
|
# char kinematic_model (optional, default and only one supported now ="stamper")
|
|
# float damping_factor (optional, range 1.0-1000.0, default=10.0)
|
|
#vrpn_Tracker_NovintFalcon Tracker0 0 4-button stamper 10.0
|
|
|
|
################################################################################
|
|
# Hillcrest Labs Freespace device
|
|
# char name_of_this_device[]
|
|
# int Index (0 for device 1, 1 for device 2, ...)
|
|
# int Send body frames (0 = no, 1 = yes)
|
|
# int Send user frames (0 = no, 1 = yes)
|
|
|
|
#vrpn_Freespace FreeSpace0 0 1 1
|
|
|
|
################################################################################
|
|
# Dream Cheeky devices, of which only the USB Roll-Up Drum Kit is implemented.
|
|
#
|
|
# There is one argument:
|
|
# char name_of_this_device[]
|
|
|
|
#vrpn_Dream_Cheeky_USB_roll_up_drums drums0
|
|
|
|
################################################################################
|
|
# (OBSOLETE) Trivisio Colibri device. This is an inertial tracker that gives
|
|
# orientation information, no position (the tracker reports (0, 0, 0) for position).
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# int number_of_sensors (Number of connected devices to connect to)
|
|
# int Hz (Update rate)
|
|
# int bufLen (From the reference manual:
|
|
# An short buffer (0) ensures minimal delay until the sensor
|
|
# measurement is available at the risk of lost measurements.
|
|
# A long buffer guarantees that no data is dropped, at
|
|
# the same time if data is not read fast enough there is a
|
|
# potential risk of a bufLen frequency before the measurement
|
|
# becomes available.)
|
|
|
|
#vrpn_Tracker_TrivisioColibri Colibri 1 60 0
|
|
|
|
################################################################################
|
|
# Trivisio ColibriAPI support. This is an inertial tracker that gives orientation
|
|
# information, no position (the tracker reports (0, 0, 0) for position).
|
|
# If wireless Colibri do not answer, dongle scans for them automatically (20 seconds).
|
|
# Wireless Colibri must be in scanning mode (button pushed for 2 seconds,
|
|
# LED flashing fast).
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# char conf_file_name[] : xml-file with sensor network configuration.
|
|
# Use Colibri GUI to create the file. Settings must be set
|
|
# and saved in sensors' non-volatile memory using Colibri GUI.
|
|
# * - to use all connected devices. Default settings will be
|
|
# applied to sensors.
|
|
# int Hz : Update rate.
|
|
# int report_a_w : 0 = orientation only,
|
|
# 1 = orientation + angular velocity + acceleration.
|
|
|
|
#vrpn_Tracker_Colibri Colibri * 100 0
|
|
|
|
################################################################################
|
|
# LUDL USBMAC6000 device. This is a vrpn_Analog and a vrpn_Analog_Output device
|
|
# that lets you both move the stage by command and get a response when it has
|
|
# finished moving.
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# int Perform recentering on device (0 = no, 1 = yes)
|
|
|
|
#vrpn_LUDL_USBMAC6000 Analog0 1
|
|
|
|
################################################################################
|
|
# GameTrak tracker
|
|
# Reports 2 sensors with positions only
|
|
# This device uses another joystick device that needs to be configured (PC
|
|
# version of GameTrak shows up as a joystick device with 6 axes and a button)
|
|
# If the name of the joystick device starts with '*', it will take another
|
|
# one on this server, otherwise it will attempt a remote connection
|
|
# char name_of_this_device[]
|
|
# char name of the joystick device[]
|
|
#vrpn_Joylin RawGametrak /dev/input/js1
|
|
#vrpn_Tracker_GameTrak GameTrak0 *RawGametrak
|
|
|
|
|
|
################################################################################
|
|
# PNI SpacePoint Fusion 3DOF rotation tracker
|
|
# Reports 1 sensor as quaternion.
|
|
# The device index can be specified in order to open multiple identical devices,
|
|
# if not specified, 0 is assumed.
|
|
# char name_of_this_device[]
|
|
# [int device index]
|
|
|
|
#vrpn_Tracker_SpacePoint SpacePoint0 0
|
|
|
|
################################################################################
|
|
# 5DT DataGlove "Ultra" USB/USB Wireless support (based on HID)
|
|
#
|
|
# Reports 5 or 14 sensors' raw values as analogs 0-4 or 0-13, in range 0.0 - 1.0
|
|
# Note that your code will probably need to perform some scaling/calibration:
|
|
# see vrpn_Analog_5dtUSB.h for more info
|
|
#
|
|
# Four device types as shown in examples below: the server will connect to the
|
|
# first device available of that type.
|
|
#
|
|
# For serial (non-"Ultra") gloves, see vrpn_5dt and vrpn_5DT16
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
|
|
#vrpn_Analog_5dtUSB_Glove5Right Glove5Right
|
|
#vrpn_Analog_5dtUSB_Glove5Left Glove5Left
|
|
#vrpn_Analog_5dtUSB_Glove14Right Glove14Right
|
|
#vrpn_Analog_5dtUSB_Glove14Left Glove14Left
|
|
|
|
################################################################################
|
|
# JsonNet devices
|
|
#
|
|
# Any device that send updates formatted as JSON messages over UDP, including
|
|
# Vrpn Widgets for Android
|
|
#
|
|
# Messages are:
|
|
# for a tracker:
|
|
# {
|
|
# 'type': 1,
|
|
# 'id': sensor number,
|
|
# 'quat': quaternion,
|
|
# 'pos': position
|
|
# }
|
|
#
|
|
# for a button:
|
|
# {
|
|
# 'type': 2,
|
|
# 'button': button number,
|
|
# 'state': the boolean state
|
|
# }
|
|
#
|
|
# for an analog:
|
|
# {
|
|
# 'type': 3,
|
|
# 'num': channel number,
|
|
# 'data': the analog value
|
|
# }
|
|
# for a text message:
|
|
# {
|
|
# 'type': 4,
|
|
# 'data': the text value
|
|
# }
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# int udp_port (Device send JSON messages to this port)
|
|
|
|
#vrpn_Tracker_JsonNet Jsonnet 7777
|
|
|
|
################################################################################
|
|
# One-Euro Filter Tracker. This is a tracker that is intended to be used on top of
|
|
# another tracker to provide filtered output for it. This was originally designed
|
|
# for the Razer Hydra, but can be used along with any tracker.
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# char name_of_tracker_to_filter[] (start with * for local)
|
|
# int number_of_sensors_to_filter
|
|
# float vecMinCutoff
|
|
# float vecBeta
|
|
# float vecDerivativeCutoff
|
|
# float quatMinCutoff
|
|
# float quatBeta
|
|
# float quatDerivativeCutoff
|
|
|
|
#vrpn_Tracker_FilterOneEuro Filter0 *Tracker0 2 1.15 1.0 1.2 1.5 5.0 1.2
|
|
|
|
################################################################################
|
|
# Razer Hydra (Sixense TrueMotion) tracker (HID-based driver)
|
|
#
|
|
# The left wand (the one with LB and LT on its "end" buttons - look from above)
|
|
# is sensor 0, and the right wand (with RB and RT on it) is sensor 1.
|
|
# The "front" of the base is the side opposite the cables: there's a small
|
|
# logo on it. You can have the base in any orientation you want, but the info
|
|
# that follows assumes you have the base sitting on a desk, with the front toward you.
|
|
# If you have the base in a different coordinate frame in the world, please make
|
|
# the appropriate mental transformations yourself. :)
|
|
#
|
|
# When starting the VRPN server, make sure that the left wand is somewhere to
|
|
# the left of the base, and the right wand somewhere right of the base -
|
|
# they do not need to be placed on the base or any more complicated homing/calibration
|
|
# procedure. This is for the hemisphere tracking: it needs to have an "initial state"
|
|
# that is roughly known, so it uses the sign of the X coordinate position.
|
|
#
|
|
# The base coordinate system is right-handed with the axes:
|
|
# X - out the right of the base
|
|
# Y - out the front of the base
|
|
# Z - down
|
|
#
|
|
# The wands are also right-handed, with the tracked point somewhere near
|
|
# the cable entry to the controller . When held with the joystick vertical,
|
|
# the axes are:
|
|
# X - to the right
|
|
# Y - out the front of the controller (trigger buttons)
|
|
# Z - Up, along the joystick
|
|
#
|
|
# Buttons are as follows, with the right controller's button channels starting
|
|
# at 8 instead of 0:
|
|
# 0 - "middle" button below joystick
|
|
# 1-4 - numbered buttons
|
|
# 5 - "bumper" button (above trigger)
|
|
# 6 - joystick button (if you push straight down on the joystick)
|
|
# There is no button 7 on any controller; the offset of 8 per controller
|
|
# was done to make similar buttons differ by a power of 2.
|
|
#
|
|
# Analog channels are as follows, with the right controller starting at 3
|
|
# instead of 0:
|
|
# 0 - joystick left/right: centered at 0, right is positive, in [-1, 1]
|
|
# 1 - joystick up/down: centered at 0, up is positive, in [-1, 1]
|
|
# 2 - analog trigger, in range 0 (not pressed) to 1 (fully pressed).
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
#
|
|
# NOTE: If using the Hydra on Windows, the server will work with or without the official
|
|
# Razer Hydra drivers installed. If you are only using the device with VRPN, don't
|
|
# install the official drivers. However, if you do have them installed, make sure that
|
|
# the "Hydra Configurator" and the Hydra system tray icon are closed to avoid unexpected
|
|
# failure (their software can switch the device out of the mode that VRPN uses). You
|
|
# probably want to make sure that the tray icon doesn't auto-run on startup, since it
|
|
# can get even messier with Windows 7's "switch users" if you let it auto-run for each
|
|
# user.
|
|
#
|
|
# Works great on Linux (regardless of endianness) - no drivers needed, thanks to USB HID.
|
|
#
|
|
# NOTE: Because of the jitter in the tracker, you may want to add a
|
|
# filter to it and then read the filtered location values; you still read
|
|
# the buttons and analogs from the original device.
|
|
#
|
|
|
|
#vrpn_Tracker_RazerHydra Tracker0
|
|
#vrpn_Tracker_FilterOneEuro Filter0 *Tracker0 2 1.15 1.0 1.2 1.5 5.0 1.2
|
|
|
|
################################################################################
|
|
# Sensics zSight HMD with built-in tracker. This is an inertial tracker that
|
|
# gives orientation information, but no position (the tracker reports
|
|
# (0, 0, 0) for position).
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
|
|
#vrpn_Tracker_zSight zSight
|
|
|
|
################################################################################
|
|
# Arrington Research ViewPoint EyeTracker.
|
|
#
|
|
# The VRPN server connects to the eye tracker using the VPX_InterApp DLL.
|
|
# Whatever other control software is being used to connect to the eye tracker
|
|
# (e.g. the ViewPoint software that comes with the tracker) to perform
|
|
# calibration, etc. should link to the same copy of the DLL, so they can share
|
|
# information.
|
|
#
|
|
#-------------------------------------------------------------------------------
|
|
#
|
|
# Tracker:
|
|
#
|
|
# The tracker has two sensors, as the ViewPoint can optionally have binocular
|
|
# tracking. In the case of monocular tracking, only sensor 0 (EYE_A) will have
|
|
# valid information. Retrieving smoothed or raw tracking data is controlled by
|
|
# the smoothedData parameter.
|
|
#
|
|
# Position: The (x,y) gaze point in gaze space (smoothed or raw).
|
|
#
|
|
# Rotation: The (x,y) gaze angle as a quaternion (smoothed or raw).
|
|
#
|
|
# Velocity: The x- and y- components of the eye movement velocity in gaze space
|
|
# (always smoothed).
|
|
#
|
|
#-------------------------------------------------------------------------------
|
|
#
|
|
# Analog:
|
|
#
|
|
# There are a lot of additional data that can be retrieved from the tracker.
|
|
# These values are always calculated from the smoothed gaze point. Currently,
|
|
# the following are sent as analog values, but more can be added as needed.
|
|
# Please see the ViewPoint documentation regarding what other data are available.
|
|
#
|
|
# Because each channel needs to be duplicated in the case of a binocular tracker,
|
|
# the first n/2 values are for EYE_A, and the second n/2 values are for EYE_B.
|
|
#
|
|
# EYE_A:
|
|
#
|
|
# Channel 0: The pupil aspect ratio, from 0.0 to 1.0. Can be used to detect
|
|
# blinks when it falls below a given threshold.
|
|
#
|
|
# Channel 1: The total velocity (magnitude of eye movement velocity). Can be
|
|
# used to detect saccades.
|
|
#
|
|
# Channel 2: The fixation seconds (length of time below the velocity criterion
|
|
# used to detect saccades). 0 if saccade is occurring.
|
|
#
|
|
# EYE_B:
|
|
#
|
|
# Channels 3-5: See EYE_A.
|
|
#
|
|
#-------------------------------------------------------------------------------
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# int smoothedData
|
|
|
|
# vrpn_Tracker_ViewPoint ViewPoint 1
|
|
|
|
################################################################################
|
|
# vrpn_inertiamouse
|
|
# (Need a description of how to run this and an example commented-out line.)
|
|
|
|
###############################################################################
|
|
# To access Polhemus G4 on Windows using the Polhemus PDI library,
|
|
# use vrpn_Tracker_G4.
|
|
#
|
|
# The vrpn_Tracker_G4 tracker definition requires the tracker name and
|
|
# the vrpn server name for the tracker, followed by an optional Server Poll rate,
|
|
# and on the next line, the file path to the .g4c configuration file:
|
|
#
|
|
# vrpn_Tracker_G4 G4 \
|
|
# C:\filepath\source_config_file.g4c
|
|
#
|
|
# The Server Poll Rate is optional.
|
|
# If it is not specified, the VRPN server will poll for new data at a rate of 120 frames per second.
|
|
# (120 frames per second is the default output rate of G4 hardware.)
|
|
#
|
|
# If you wish to poll at a slower rate than the tracker, you may specify any number. For example, if
|
|
# you wish to poll 20 times per second, then specify a poll rate of 20.
|
|
#
|
|
# The '\' at the end of the first line, after the server name, is optional and
|
|
# will be disregarded. A '\' on a subsequent line means that further commands
|
|
# are to be input. The format is to have one command per line after the file
|
|
# path. Each line that isn't the final line must end in a '\'.
|
|
# The final line should not have a '\' on the end.
|
|
#
|
|
# Supported G4 Configuration Commands:
|
|
# 'B' Set/Reset Boresight
|
|
# 'X' Set/Reset Position Filter
|
|
# 'Y' Set/Reset Attitude Filter
|
|
# 'T' Set/Reset G4 Translation Frame of Reference
|
|
# 'R' Set/Reset G4 Rotation Frame of Reference
|
|
# 'I' Set/Reset Sensor Increment/Auto-Increment
|
|
# 'N' Set/Reset Sensor Tip Offset
|
|
#
|
|
# The following commands are not G4 configuration commands but are used to
|
|
# create VRPN button server objects for G4 button devices:
|
|
#
|
|
# 'G4PowerTrak' Creates VRPN button server object with 4 buttons
|
|
# 'G4DigIO' Creates VRPN button server object with a configurable button count
|
|
#
|
|
# Command Syntax:
|
|
#------------------------------------------------------------------------------
|
|
# 'B' Boresight Command 'B':
|
|
#
|
|
# Syntax: Baction,hub,sensor,[x,y,z,w]
|
|
#
|
|
# Arguments:
|
|
# action:
|
|
# 1 = Boresight
|
|
# 2 = Unboresight
|
|
#
|
|
# hub: HubID. (0-based.) To apply Boresight/Unboresight to all hubs & sensors, set to * or -1.
|
|
# sensor: Sensor Num. (0-based.) To apply Boresight/Unboresight to all sensors on a hub, set to *
|
|
# Note: If hub is *, set sensor to * also.
|
|
# [x,y,z,w]: Optional Quaternion XYZW Boresight Reference Orientation.
|
|
# All 4 values must be set.
|
|
# N/A for action=2
|
|
#
|
|
# Examples:
|
|
# B2,-1,-1 Un-Boresights all sensors on all hubs
|
|
# B1,-1,-1 Boresights all sensors on all hubs
|
|
# B1,1,-1,
|
|
#------------------------------------------------------------------------------
|
|
# 'X' Position Filter Command 'X':
|
|
# 'Y' Attitude Filter Command 'Y':
|
|
#
|
|
# Syntax: Xaction,hub,flevel,[F,FLow,FHigh,Factor]
|
|
# Yaction,hub,flevel,[F,FLow,FHigh,Factor]
|
|
#
|
|
# Arguments:
|
|
# action:
|
|
# 1 = Set
|
|
# 2 = Reset
|
|
#
|
|
# hub: HubID. (0-based.) To apply filter to all hubs, set to *
|
|
# flevel: Filter Level
|
|
# 0=None
|
|
# 1=Light
|
|
# 2=Medium
|
|
# 3=Heavy
|
|
# 4=Custom
|
|
# [F,FLow,FHigh,Factor]: Optional Floating-point Parameters used only if flevel=Custom.
|
|
# If custom parameters are used, it is assumed that all four custom parameters are present.
|
|
# See Tracker User manual for meaning of Custom Filter Values.
|
|
# Examples:
|
|
# X*,1 Sets Position Filtering to LIGHT on all hubs
|
|
# Y2,0 Sets Attitude Filtering to NONE on hub 2
|
|
# X1,4,0.2,0.2,0.8,0.95 Sets Custom Filter on hub 1
|
|
#------------------------------------------------------------------------------
|
|
# 'T' Translation Frame of Reference Command 'T':
|
|
#
|
|
# Syntax: Taction,x,y,z
|
|
#
|
|
# Arguments:
|
|
# action:
|
|
# 1 = Set
|
|
# 2 = Reset
|
|
#
|
|
# x,y,z: Position Offset, measured in Meters
|
|
# All arguments must be present
|
|
#
|
|
# Examples:
|
|
# T1,1.0,1.5,1.0 Sets Translation Frame of Reference to (1.0, 1.5, 1.0) meters
|
|
# Y2 Resets Translation Frame of Reference
|
|
#
|
|
# Note: Frame of Reference commands apply to all G4 output.
|
|
#------------------------------------------------------------------------------
|
|
# 'R' Rotation Frame of Reference Command 'R':
|
|
#
|
|
# Syntax: Raction,hub,x,y,z,w
|
|
#
|
|
# Arguments:
|
|
# action:
|
|
# 1 = Set
|
|
# 2 = Reset
|
|
#
|
|
# x,y,z,w: Rotation Quaternion XYZW
|
|
# All arguments must be present
|
|
#
|
|
# Examples:
|
|
# R1,0,0,0.707107,0.707107 Sets Rotation Frame of Reference
|
|
# R2 Resets Rotation Frame of Reference
|
|
#
|
|
# Note: Frame of Reference commands apply to all G4 output.
|
|
#------------------------------------------------------------------------------
|
|
# 'I' Increment/AutoIncrement Command 'I':
|
|
#
|
|
# Syntax: Iaction,hub,sensor,fPosIncr,fOriIncr
|
|
#
|
|
# Arguments:
|
|
# action:
|
|
# 1 = Set
|
|
# 2 = Reset
|
|
#
|
|
# hub: HubID. (0-based.) To apply command to all hubs & sensors, set to * or -1
|
|
# sensor: Sensor Num. (0-based.) To apply command to all sensors on a hub, set to * or -1
|
|
# Note: If hub is *, set sensor to * also.
|
|
#
|
|
# posIncr: Position Threshold, Meters
|
|
# 0 Disables
|
|
# -1 Enables Auto-Increment
|
|
#
|
|
# oriIncr: Orientation Threshold, DEGREES
|
|
# 0 Disables
|
|
# -1 Enables Auto-Increment
|
|
#
|
|
# Examples:
|
|
# I1,*,*,0.01,5.0 For all hubs/sensors, sets position increment to 10 cm,
|
|
# rotation increment to 5 degrees
|
|
# I1,*,*,-1,-1 For all hubs/sensors, enables position and rotation auto-increment
|
|
# I2,0,2 For hub0, sensor2, resets/disables increment
|
|
#
|
|
#------------------------------------------------------------------------------
|
|
# 'N' Tip Offset Command 'N':
|
|
#
|
|
# Syntax: Iaction,hub,sensor,x,y,z
|
|
#
|
|
# Arguments:
|
|
# action:
|
|
# 1 = Set
|
|
# 2 = Reset
|
|
#
|
|
# hub: HubID. (0-based.) To apply command to all hubs & sensors, set to * or -1
|
|
# sensor: Sensor Num. (0-based.) To apply command to all sensors on a hub, set to * or -1
|
|
# Note: If hub is *, set sensor to * also.
|
|
#
|
|
# x,y,z: Position Offset, measured in Meters
|
|
# All arguments must be present
|
|
#
|
|
# Examples:
|
|
# N1,0,0,0.005,0.001,0.001 For hub0,sensor0, sets tip offset to (5,1,1)cm
|
|
# N2,*,* For all hubs/sensors, resets tip offset
|
|
#
|
|
#
|
|
#------------------------------------------------------------------------------
|
|
# 'G4PowerTrak' Command :
|
|
# If one or more hubs in the polhemus g4 system supports a Polhemus PowerTrak360, use this
|
|
# command to create a vrpn button object with 4 buttons.
|
|
#
|
|
# Syntax: G4PowerTrak name hub
|
|
#
|
|
# Arguments:
|
|
# name: Button Server Name
|
|
# hub: HubID. (0-based) Identifier of the hub to which the PowerTrak360 is connected.
|
|
#
|
|
# Examples:
|
|
# G4PowerTrak ptrak0 0 For 4-button server named ptrak0 plugged into Hub 0.
|
|
#
|
|
# Remember that the "remote" button object is not the same as the the tracking device, so be sure
|
|
# to use a remote button object that connects to the button rather than the tracker.
|
|
# In this example configuration, if the name of the machine running the server is "mytrackerserver"
|
|
# you would connect to the tracker as "myg4@mytrackerserver" and to the powertrak configured
|
|
# here as "ptrak0@mytrackerserver"
|
|
#
|
|
# Note: It is possible to have >1 G4PowerTrak configured on a vrpn_Tracker_G4, but they must be
|
|
# on different hubs.
|
|
# It is also possible to have a combination of G4PowerTrak and G4DigIO commands, but they
|
|
# must be on different hubs.
|
|
#
|
|
#------------------------------------------------------------------------------
|
|
# 'G4DigIO' Command:
|
|
# If one or more hubs in the polhemus g4 system supports a custom digital IO accessory, use this
|
|
# command to create a vrpn button object with a configurable number of buttons
|
|
#
|
|
# Syntax: G4DigIO name hub inputs
|
|
#
|
|
# Arguments:
|
|
# name: Button Server Name
|
|
# hub: HubID. (0-based) Identifier of the hub to which the digital IO device is connected.
|
|
# inputs: Number of digital inputs (buttons) to capture.
|
|
# The G4 Digital I/O interface supports up to 8 digital inputs. The 'inputs'
|
|
# argument must be between 1 and 8, inclusive.
|
|
#
|
|
# Examples:
|
|
# G4DigIO 2btn0 0 For 2-button server named 2btnio0 plugged into Hub 0.
|
|
# G4DigIO 8sig4 8 For an 8-button server named 8sig4 plugged into Hub 4.
|
|
#
|
|
# Remember that the "remote" button object is not the same as the the tracking device, so be sure
|
|
# to use a remote button object that connects to the button rather than the tracker.
|
|
# In this example configuration, if the name of the machine running the server is "mytrackerserver"
|
|
# you would connect to the tracker as "myg4@mytrackerserver" and to the G4DigIO configured
|
|
# here as "2btn0@mytrackerserver" or "8btn4@mytrackerserver".
|
|
#
|
|
# Note: It is possible to have >1 G4DigIO configured on a vrpn_Tracker_G4, but they must be
|
|
# on different hubs.
|
|
# It is also possible to have a combination of G4PowerTrak and G4DigIO commands, but they
|
|
# must be on different hubs.
|
|
#
|
|
#------------------------------------------------------------------------------
|
|
# Example command for setup of a G4
|
|
#
|
|
# vrpn_Tracker_G4 G4\
|
|
# C:\Program Files (x86)\Polhemus\G4\G4 Files\mysourceconfig.g4c \
|
|
# G4PowerTrak myptraka 1
|
|
# G4PowerTrak myptrakb 2
|
|
# B1,-1,-1\
|
|
# X1,*,1\
|
|
# Y1,*,4,0.2,0.2,0.8,0.95\
|
|
# T1, 10.0, 10.0, 10.0, 10.0\
|
|
# R1,0,0,0,1\
|
|
# I1,*,*,0.01,5.0\
|
|
# N1,0,*,0.005,0.002,0.001\
|
|
# N2,*,*
|
|
|
|
###############################################################################
|
|
# To access Polhemus FasTrak on Windows using the Polhemus PDI library,
|
|
# use vrpn_Tracker_FastrakPDI.
|
|
#
|
|
# The vrpn_Tracker_FastrakPDI tracker definition requires the tracker name and
|
|
# the vrpn server name for the tracker, followed by an optional Server Poll rate:
|
|
#
|
|
# vrpn_Tracker_FastrakPDI myFastrak4 30\ <-valid
|
|
# vrpn_Tracker_FastrakPDI myFastrak2 60\ <-valid
|
|
# vrpn_Tracker_FastrakPDI myFastrak1 \ <-valid
|
|
#
|
|
# The Server Poll Rate is optional.
|
|
# If it is not specified, the VRPN server will poll for new data at a rate of 120 frames per second.
|
|
# (120 frames per second is the default output rate of FasTrak hardware with ONE sensor connected.)
|
|
#
|
|
# For FasTrak trackers the update rate depends on the number of sensors connected to the device:
|
|
# Number of Sensors Update Rate
|
|
# ----------------- -----------
|
|
# 1 120 frames/sec
|
|
# 2 60 frames/sec
|
|
# 3 40 frames/sec
|
|
# 4 30 frames/sec
|
|
#
|
|
# If you wish to poll at the same rate as the tracker output, then you must specify the poll rate
|
|
# to match the update rate in the table above.
|
|
#
|
|
# If you wish to poll at a slower rate than the tracker, you may specify any number. For example, if
|
|
# you wish to poll 20 times per second, then specify and update rate of 20.
|
|
#
|
|
# The '\' at the end of the first line, after the server name, is optional and will be disregarded.
|
|
# a '\' on a subsequent line means that further commands are to be input. The format is to have
|
|
# one command per line. Each line that isn't the final line must end in a '\'. The final line should not
|
|
# have a '\' on the end.
|
|
#
|
|
# Supported Fastrak Configuration Commands:
|
|
# All commands are exposed, except C and c for continuous pno which would conflict with VRPN directly.
|
|
# Take note that O<> should be avoided, though it will be sent to the tracker. VRPN clients expect position
|
|
# x,y,z and quaternion q,r,s,t by default, so changing the frame structure could result in an overflow.
|
|
# The format commands ('F' for ASCII, f for binary) are especially useful since the tracker can mark
|
|
# syntax errors in ASCII mode. The tracker must be in binary mode for VRPN to gather data, so if you issue
|
|
# an F command at some point in this file (to troubleshoot syntax errors), be sure to issue an f<>
|
|
# command later. Not all fastrak commands have a response: boresight, for example. You can confirm
|
|
# such settings by requesting a single frame in ASCII mode with the command P (note, P requires no <>).
|
|
# Read the fastrak manual for a full list of commands.
|
|
#
|
|
# Command Syntax:
|
|
# Many commands, much like P (gather single pno frame), require no carriage return on the end. Carriage
|
|
# returns are represented by '<>'. Control commands, noted as ^$ (where $ is any capitol letter) in the
|
|
# manual require a '^' followed by the capital letter for the command. Syntax is precisely as given in
|
|
# examples in the fastrak manual. Note that all commands are case sensitive.
|
|
# Examples:
|
|
# F <-Sets the response frame format to ASCII
|
|
# f <-Sets the response frame format to binary
|
|
# b*<> <-Removes the boresight setting for all sensors
|
|
# B1<> <-Sets the boresight to 0,0,0 as a default or whatever G<> was set to
|
|
# G1,0,0,0<> <-Sets the boresight reference angles of station 1 to 0,0,0
|
|
# ^Y <-Sends a reset command to the tracker, note that VRPN defaults for pno will be loaded on
|
|
# reconnect
|
|
#
|
|
# If a sensor on the FasTrak device is a Polhemus FasTrak Stylus, use the "PDIStylus"
|
|
# command. This command takes one argument: the station number of the stylus device. Remember that
|
|
# the station number is a 1-based index of sensors/'stations' on the Polhemus equipment.
|
|
# PDIStylus command syntax:
|
|
#
|
|
# PDIStylus [station-num]
|
|
#
|
|
# Use of the PDIStylus command will
|
|
# - Cause the Stylus Button Flag to be configured into the output of all stations.
|
|
# - Cause the creation of vrpn button device. The name of this device will be a concatenation of
|
|
# the server name for the tracker + "Stylus" + the specified station number.
|
|
# E.g:
|
|
# vrpn_Tracker_FasTrakPDI myFT \
|
|
# PDIStylus 1
|
|
#
|
|
# Will produce a button device named "myFTStylus1"
|
|
#
|
|
# Remember that the "remote" button object is not the same as the the tracking device, so be sure
|
|
# to use a remote button object that connects to the button rather than the tracker.
|
|
# In this example configuration, if the name of the machine running the server is "mytrackerserver"
|
|
# you would connect to the tracker as "myFT@mytrackerserver" and to the button on the stylus as
|
|
# "myFTStylus1@mytrackerserver"
|
|
#
|
|
# NOTE: The FasTrak tracker will only detect stylus input if the stylus is plugged into Station 1!
|
|
# However, the stylus flag can be output onto any station on the device. Therefore, it is
|
|
# possible to specify station 2 as your PDIStylus button, and the stylus output will be collected
|
|
# from the Station 2 output. BUT the actual Stylus device must be plugged into Station 1.
|
|
# This means that only one Stylus can be plugged into a FasTrak at any time, but up to 4 vrpn
|
|
# button objects can be created/accessed from that Stylus.
|
|
#
|
|
#------------------------------------------------------------------------------
|
|
# The following example config:
|
|
# -specifies that station 1 is a FasTrak Stylus Device
|
|
# -sets the tracker to ASCII responses (F),
|
|
# -sets the boresight reference on sensor one to 0,0,0, (G1,0,0,0<>)
|
|
# -writes this reference to the system with B1<>,
|
|
# -confirms the change by collecting a single pno with P,
|
|
# -removes the boresight setting (^b1<>),
|
|
# -collects a second single pno to confirm this removal (P) and
|
|
# -finally returns to binary mode before passing control to VRPN (F1<>).
|
|
# The trackers name is TrackerJoe.
|
|
# The server poll rate is 120 Hz.
|
|
|
|
# vrpn_Tracker_FastrakPDI TrackerJoe 120\
|
|
# PDIStylus 1\
|
|
# F\
|
|
# G1,0,0,0<>\
|
|
# B1<>\
|
|
# P\
|
|
# b1<>\
|
|
# P\
|
|
# f
|
|
|
|
#------------------------------------------------------------------------------
|
|
# The default config is below.
|
|
# -Assumes that one sensor is connected to FasTrak, and polls at 120 Hz
|
|
|
|
# vrpn_Tracker_FastrakPDI myFasTrak
|
|
|
|
###############################################################################
|
|
# To access Polhemus Liberty or Patriot on Windows using the Polhemus PDI library,
|
|
# use vrpn_Tracker_LibertyPDI.
|
|
#
|
|
# The vrpn_Tracker_LibertyPDI tracker definition requires the tracker name and
|
|
# the vrpn server name for the tracker, followed by an optional Server Poll rate:
|
|
#
|
|
# vrpn_Tracker_LibertyPDI MyLiberty 240\ <-valid
|
|
# vrpn_Tracker_LibertyPDI MyPatriot \ <-valid
|
|
# vrpn_Tracker_LibertyPDI MyPolhemus 120\ <-valid
|
|
#
|
|
# Note that "Tracker_LibertyPDI" is used for both Polhemus Patriot and Liberty tracker hardware!
|
|
#
|
|
# The Server Poll Rate is optional.
|
|
# If it is not specified, the VRPN server will poll for new data at a rate of 60 frames per second.
|
|
# (60 frames per second is the default output rate of Patriot tracker hardware.)
|
|
#
|
|
# For Liberty trackers, the default rate is 240 frames per second. If you wish for the server to poll
|
|
# at this rate, then you must specify 240!
|
|
#
|
|
# If you wish to poll at a slower rate than the tracker, you may specify any number. For example, if
|
|
# you wish to poll 20 times per second, then specify and update rate of 20.
|
|
#
|
|
# The '\' at the end of the first line, after the server name, is optional and will be disregarded.
|
|
# a '\' on a subsequent line means that further commands are to be input. The format is to have
|
|
# one command per line. Each line that isn't the final line must end in a '\'. The final line should not
|
|
# have a '\' on the end.
|
|
#
|
|
# Supported Liberty/Patriot Configuration Commands:
|
|
# All commands are accepted, except C<> for continuous pno output which would conflict with VRPN directly.
|
|
# Take note that O<> should be avoided, though it will be sent to the tracker. VRPN clients expect position
|
|
# x,y,z and quaternion q,r,s,t by default, so changing the frame structure could result in an overflow.
|
|
# The format command (F0<> for ASCII, F1<> for binary) is especially useful since the tracker can mark
|
|
# syntax errors in ASCII mode. The tracker must be in binary mode for VRPN to gather data, so if you issue
|
|
# an F0<> command at the beginning of this file (to troubleshoot syntax errors), be sure to issue an F1<>
|
|
# command later. Not all liberty/patriot commands have a response: boresight, for example. You can confirm
|
|
# these settings by requesting a single frame in ASCII mode with the command P (note, P requires no <>).
|
|
# Read the patriot or liberty manual for a full list of commands.
|
|
#
|
|
# Note: The R command is used to set the Liberty tracker update rate. This command has no effect on Patriot.
|
|
# For Liberty, if you use the R command to change the update rate, remember to change the Server Poll Rate
|
|
# specification in the tracker definition (like "MyPolhemus" example above).
|
|
|
|
# Command Syntax:
|
|
# Every command, except P (gather single pno frame), requires a carriage return on the end. Carriage
|
|
# returns are represented by '<>'. Control commands, noted as ^X (where X is any capitol letter) in the
|
|
# manual require a '^' followed by the capital letter for the command. Syntax is precisely as given in
|
|
# examples in the patriot/liberty manuals.
|
|
# Examples:
|
|
# ^V<> <-This command sends a 'whoami' request to the tracker. Requires ascii mode for response
|
|
# F<> <-Queries format mode of tracker (binary or ascii)
|
|
# F0<> <-Sets the response frame format to ASCII
|
|
# F1<> <-Sets the response frame format to binary
|
|
# ^B*<> <-Removes the boresight setting for all sensors
|
|
# B1<> <-Queries the boresight setting for sensor one
|
|
# B1,0,0,0,0 <-Sets the boresight to 0,0,0 without a reset for sensor one
|
|
# ^Y<> <-Sends a reset command to the tracker, note that VRPN defaults for pno will be loaded on
|
|
# reconnect
|
|
#
|
|
# If one or more sensors on the polhemus device is a Polhemus Stylus, use the "PDIStylus"
|
|
# command. This command takes one argument: the station number of the stylus device. Remember that
|
|
# the station number is a 1-based index of sensors/'stations' on the Polhemus equipment.
|
|
# PDIStylus command syntax:
|
|
#
|
|
# PDIStylus [station-num]
|
|
#
|
|
# Use of the PDIStylus command will
|
|
# - Cause the Stylus Button Flag to be configured into the output of all stations.
|
|
# - Cause the creation of vrpn button device. The name of this device will be a concatenation of
|
|
# the server name for the tracker + "Stylus" + the specified station number.
|
|
# E.g:
|
|
# vrpn_Tracker_LibertyPDI myliberty \
|
|
# PDIStylus 2
|
|
#
|
|
# Will produce a button device named "mylibertyStylus2"
|
|
#
|
|
# Remember that the "remote" button object is not the same as the the tracking device, so be sure
|
|
# to use a remote button object that connects to the button rather than the tracker.
|
|
# In this example configuration, if the name of the machine running the server is "mytrackerserver"
|
|
# you would connect to the tracker as "myliberty@mytrackerserver" and to the button on this stylus as
|
|
# "mylibertyStylus2@mytrackerserver"
|
|
#
|
|
# NOTE: The Liberty and Patriots tracker will detect stylus button input on any station, and there is
|
|
# no limit on the number of Stylus devices that can be connected to the tracker. Only one vrpn
|
|
# button object can be created per stylus.
|
|
#
|
|
#------------------------------------------------------------------------------
|
|
# The following example config for a Liberty tracker:
|
|
# -specifies that stations 1 and 2 are Polhemus Stylus Devices
|
|
# -sets the tracker to ASCII responses (F0<>),
|
|
# -sends the tracker a whoami (^V<>),
|
|
# -sets the boresight on sensor one (B1,0,0,0,0<>) to an arbitrary value,
|
|
# -confirms the boresight setting with P to collect a single pno,
|
|
# -removes the boresight setting (^B1<>),
|
|
# -collects a second single pno to confirm (P),
|
|
# -enters an invalid command to demonstrate the advantage of ASCII mode (^ZX<>) and finally,
|
|
# -most importantly, returns to binary mode before passing control to VRPN (F1<>).
|
|
# The tracker server name is myLiberty.
|
|
# The server poll rate is 240 Hz
|
|
#
|
|
# vrpn_Tracker_LibertyPDI myLiberty 240\
|
|
# PDIStylus 1\
|
|
# PDIStylus 2\
|
|
# F0<>\
|
|
# ^V<>\
|
|
# B1,0,0,0,0<>\
|
|
# P\
|
|
# ^B1<>\
|
|
# P\
|
|
# ^ZX<>\
|
|
# F1<>
|
|
#
|
|
#-----------------------------------------------------------------------------
|
|
# Finally the default config below:
|
|
# -May be used for a Liberty or a Patriot tracker
|
|
# -Polls the tracker 60 times per second
|
|
# -Sets tracker output to ASCII
|
|
# -Queries the tracker for WhoAmI information
|
|
# -Sets the output back to Binary
|
|
##############################################################################
|
|
|
|
# vrpn_Tracker_LibertyPDI defaultPolhemus\
|
|
# F0<>\
|
|
# ^V<>\
|
|
# F1<>
|
|
|
|
###############################################################################
|
|
# This YEI 3Space_Sensor driver is used even for a wireless-capable sensor
|
|
# when it is plugged directly into the computer via USB. The Wireless
|
|
# driver (see next driver description) is used when the wireless unit is
|
|
# plugged into the computer.
|
|
#
|
|
# On Windows, the driver for the YEI 3-Space Sensor Suite requires installation
|
|
# of the device driver that comes with the system, which presents a serial-port
|
|
# interface to the device (as a COM port on Windows). On Mac and Linux, you
|
|
# can just plug in the device and it will show up as a new port. On Linux, the
|
|
# default permissions for the port only allow read access, so you'll need to
|
|
# either change the permissions or run vrpn_server as root.
|
|
# If the gyroscopes are calibrated at startup, the device should remain still
|
|
# while the server is started.
|
|
# If the device is set to tare at startup, it should be facing in the correct
|
|
# direction when the server is started. This is usually a manufacturing-time
|
|
# operation if the tracker is integrated into a larger device.
|
|
#
|
|
# This device exposes a Tracker interface, with the following inputs. Only the
|
|
# orientation portion of the pose is valid; the position is always reported as
|
|
# (0,0,0). Sensor 1 also reports linear acceleration.
|
|
# 0: Untared orientation
|
|
# 1: Tared orientation
|
|
#
|
|
# This device exports an Analog interface, with the following channels:
|
|
# 0: Corrected Gyro rate vector X component (radians/second)
|
|
# 1: Corrected Gyro rate vector Y component (radians/second)
|
|
# 2: Corrected Gyro rate vector Z component (radians/second)
|
|
# 3: Corrected Gravity vector X component (in fraction of g)
|
|
# 4: Corrected Gravity vector Y component (in fraction of g)
|
|
# 5: Corrected Gravity vector Z component (in fraction of g)
|
|
# 6: Corrected Compass vector X component (in Gauss)
|
|
# 7: Corrected Compass vector Y component (in Gauss)
|
|
# 8: Corrected Compass vector Z component (in Gauss)
|
|
# 9: Temperature Celsius
|
|
# 10: Confidence factor (1 if completely stationary down to 0 with motion)
|
|
#
|
|
# This device exports a Button_Filter interface, with the following channels:
|
|
# 0: First button (external button on the units in cases)
|
|
# 1: Second button (external button on the units in cases)
|
|
# 2-7: Other buttons (not installed at the factory)
|
|
#
|
|
# The device description for a wired device:
|
|
# vrpn_YEI_3Space_Sensor
|
|
# char name_of_this_device[]
|
|
# char port_name
|
|
# int baud_rate_of_serial_device
|
|
# int calibrate_gyros_on_startup (0 = no, 1 = yes)
|
|
# int tare_on_startup (0 = no, 1 = yes)
|
|
# double frames_per_second
|
|
# float red_LED_color to set (0-1)
|
|
# float green_LED_color to set (0-1)
|
|
# float blue_LED_color to set (0-1)
|
|
# int LED_mode (0 = standard, 1 = static)
|
|
#
|
|
# If the line ends with a backslash character '\', then the following
|
|
# line is an additional ASCII command to send to the tracker every
|
|
# time it is reset. There can be more than one such line, so long as
|
|
# each previous line ends with backslash. The commands should not include
|
|
# the beginning colon ':' character; it will be prepended automatically.
|
|
# Note that the decimal command number is used, with commas and then
|
|
# additional commands following. Also note that there must not be any
|
|
# spaces in the commands, and that there must be a space between the
|
|
# command and any trailing backslash.
|
|
#
|
|
# Note that this slash and backslash notation can only be used for the
|
|
# YEI tracker, not to extend the line for all other type of device
|
|
# listed in this configuration file.
|
|
#
|
|
# The device description for the first wireless device using a
|
|
# dongle includes the following arguments:
|
|
# vrpn_YEI_3Space_Sensor_Wireless
|
|
# char name_of_this_device[]
|
|
# int logical_id_on_wireless (0-14)
|
|
# char port_name
|
|
# int baud_rate_of_serial_device
|
|
# int calibrate_gyros_on_startup (0 = no, 1 = yes)
|
|
# int tare_on_startup (0 = no, 1 = yes)
|
|
# double frames_per_second
|
|
# float red_LED_color to set (0-1)
|
|
# float green_LED_color to set (0-1)
|
|
# float blue_LED_color to set (0-1)
|
|
# int LED_mode (0 = standard, 1 = static)
|
|
#
|
|
# If the line ends with a slash character '/', then the following line
|
|
# starts a description of an additional wireless device sharing the
|
|
# same dongle.
|
|
# The device description for an additional wireless device using the
|
|
# same dongle includes the following arguments:
|
|
# vrpn_YEI_3Space_Sensor_Wireless
|
|
# char name_of_this_device[]
|
|
# int logical_id_on_wireless (0-14)
|
|
# int calibrate_gyros_on_startup (0 = no, 1 = yes)
|
|
# int tare_on_startup (0 = no, 1 = yes)
|
|
# double frames_per_second
|
|
# float red_LED_color to set (0-1)
|
|
# float green_LED_color to set (0-1)
|
|
# float blue_LED_color to set (0-1)
|
|
# int LED_mode (0 = standard, 1 = static)
|
|
#
|
|
# Windows example, then mac example, then Linux example. Note: Ports may vary
|
|
# Note: The parser handles converting Windows ports greater than 9 into
|
|
# the correct format, so you can just put the name as COM14 without adding the
|
|
# backslashes.
|
|
# Final example shows how to use an ASCII reset command to set the
|
|
# LED color (it actually just sets it to three different colors,
|
|
# the last being yellow).
|
|
###############################################################################
|
|
|
|
#vrpn_YEI_3Space_Sensor YEI0 COM7 115200 0 0 200.0 0 0 1 0
|
|
#vrpn_YEI_3Space_Sensor YEI0 /dev/cu.usbmodemfa131 115200 0 0 200.0 0 0 1 0
|
|
#vrpn_YEI_3Space_Sensor YEI0 /dev/ttyACM0 115200 0 0 200.0 0 0 1 0
|
|
|
|
# Example with extra commands sent. These examples change the LED color
|
|
# to multiple differene ones, ending with yellow.
|
|
#vrpn_YEI_3Space_Sensor YEI0 COM7 115200 0 0 200.0 0 0 1 0 \
|
|
#238,1,1,1 \
|
|
#238,1,0,1 \
|
|
#238,1,1,0
|
|
|
|
# One sensor on a wireless connection.
|
|
#vrpn_YEI_3Space_Sensor_Wireless YEI0 0 COM5 115200 0 0 200.0 0 0 1 1
|
|
|
|
# Two sensors on the same wireless transmitter. Note the slash at the end of the
|
|
# final line for the first unit, which indicates that we're talking with the
|
|
# same base unit for a second wireless tracker (which we then don't specify the
|
|
# serial-port name for).
|
|
#vrpn_YEI_3Space_Sensor_Wireless YEI0 0 COM5 115200 0 0 200.0 0 0 1 1 \
|
|
#238,1,1,0 /
|
|
#vrpn_YEI_3Space_Sensor_Wireless YEI1 1 0 0 200.0 0 1 0 1 \
|
|
#238,0,1,1
|
|
|
|
################################################################################
|
|
# Tracker that does dead-reckoning on orientation based on either reports of
|
|
# angular velocity (if received) or on successive orientation reports.
|
|
# It sends a new prediction report whenever it receives either a tracker pose
|
|
# update or a tracker velocity update.
|
|
# char name_of_this_device[]
|
|
# char name_of_device_to_predict_for[] (start with * for local)
|
|
# int number_of_sensors
|
|
# float how_far_to_predict_in_seconds
|
|
|
|
#vrpn_Tracker_DeadReckoning_Rotation Tracker1 *Tracker0 2 0.0333
|
|
|
|
################################################################################
|
|
# OSVR Hacker Dev Kit inertial measurement unit. This is an inertial tracker that
|
|
# gives orientation information, but no position. Position values are always
|
|
# 0. Version 1 of this device sends only poses. Version 2 also sends velocity
|
|
# reports.
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
|
|
#vrpn_Tracker_OSVRHackerDevKit Tracker0
|
|
|
|
################################################################################
|
|
# Oculus Rift DK1 and DK2. There are two versions of the DK2 driver, which use the
|
|
# same hardware but in two different modes.
|
|
#
|
|
# vrpn_Oculus_DK2_inertial: Oculus DK2 inertial measurement unit only. This
|
|
# provides access to the magnetometer readings on the unit and has a different
|
|
# set of exported values.
|
|
#
|
|
# The LEDs device exports an Analog interface, with the following channels:
|
|
# 0: Uncalibrated temperature (degrees Celsius?)
|
|
# 1: Report ID counter that goes up to 65535 and then cycles back to 0
|
|
# 2: Uncalibrated accelerometer X component (positive to left ear) (m/s/s)
|
|
# 3: Uncalibrated accelerometer Y component (positive down to feet) (m/s/s)
|
|
# 4: Uncalibrated accelerometer Z component (positive forward) (m/s/s)
|
|
# 5: Uncalibrated gyro X component (positive rotating head up) (radians/sec?)
|
|
# 6: Uncalibrated gyro Y component (positive rotating head left) (radians/sec?)
|
|
# 7: Uncalibrated gyro Z component (positive tilting head left) (radians/sec?)
|
|
# 8: Uncalibrated Magnetometer X component (positive to left ear) (varied, asymmetric range)
|
|
# 9: Uncalibrated Magnetometer Y component (positive down to feet) (varied, asymmetric range)
|
|
# 10: Uncalibrated Magnetometer Z component (positive forward) (varied, asymmetric range)
|
|
#
|
|
# vrpn_Oculus_DK2_LEDs: Oculus with LEDs enabled, which would enable reading
|
|
# from its camera to determine position. Note that the program reading from
|
|
# the camera will have to put the camera into synchronous mode using a
|
|
# special command before its results will line up with the LED flashing.
|
|
# NOTE: The VRPN driver does not yet read from the camera, so will not produce
|
|
# position reports with the DK2 in this mode, but an external program could
|
|
# read from the camera to do this (after putting it into synchronous mode).
|
|
#
|
|
# The LEDs device exports an Analog interface, with the following channels:
|
|
# 0: Uncalibrated temperature (degrees Celsius?)
|
|
# 1: Report ID counter that goes up to 65535 and then cycles back to 0
|
|
# 2: Uncalibrated accelerometer X component (positive to left ear) (m/s/s)
|
|
# 3: Uncalibrated accelerometer Y component (positive down to feet) (m/s/s)
|
|
# 4: Uncalibrated accelerometer Z component (positive forward) (m/s/s)
|
|
# 5: Uncalibrated gyro X component (positive rotating head up) (radians/sec?)
|
|
# 6: Uncalibrated gyro Y component (positive rotating head left) (radians/sec?)
|
|
# 7: Uncalibrated gyro Z component (positive tilting head left) (radians/sec?)
|
|
# 8: Uncalibrated Magnetometer X component (positive to left ear) (varied, asymmetric range)
|
|
# 9: Uncalibrated Magnetometer Y component (positive down to feet) (varied, asymmetric range)
|
|
# 10: Uncalibrated Magnetometer Z component (positive forward) (varied, asymmetric range)
|
|
# 11: Time since device power-on (seconds)
|
|
#
|
|
# NOTE: The Oculus drivers may interfere with this raw driver if they are
|
|
# installed on the system.
|
|
#
|
|
# NOTE: A side effect of running this driver is that the HMDI output for the
|
|
# DK2 will become visible to the system if it is plugged in. If it is
|
|
# in DirectMode, it will not appear as a system display. If it is not,
|
|
# it will show up as another display.
|
|
#
|
|
# NOTE: The magnetometer ranges on each axis are different, and they are not
|
|
# symmetric around 0 for any of the axes, so the device needs to have been
|
|
# rotated around a lot to really have an idea of which way is North. A
|
|
# tracker based on this value needs to keep track of the extrema.
|
|
# Also, the magnetic North vector does not point straight along the
|
|
# plane of the ground, but rather into the Earth. Finally, even with a
|
|
# careful calibration there can still be drift/wobble caused by using
|
|
# the magnetometer, so it is recommended to not use it unless true north
|
|
# is needed. The system seems stable in rotation without it.
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
|
|
#vrpn_Oculus_DK1 Oculus0
|
|
#vrpn_Oculus_DK2_inertial Oculus0
|
|
#vrpn_Oculus_DK2_LEDs Oculus0
|
|
|
|
################################################################################
|
|
# Magnetometer. This is an analog that is intended to be used on top of
|
|
# an analog that reads values from a 3-axis magnetometer.
|
|
# It could be used on top of any analog device, in fact.
|
|
# This device basically takes in analog signals and puts out analog
|
|
# values that are a unit vector.
|
|
# One analog channel is associated with each axis (X, Y, Z)
|
|
# For each axis, the value is scaled to a the correct orientation but the
|
|
# magnitude will be normalized and offset to fit the largest range of values
|
|
# ever received for that axis (self-calibrated).
|
|
# NOTE: The vector will not point perpendicular to gravity.
|
|
# NOTE: The examples below map the axes to the OSVR coordinate system,
|
|
# which has +X pointing from the center of the eyes through the right eye,
|
|
# the +Y axis pointing straight up, and the +Z axis pointing out the back of
|
|
# the user's head.
|
|
#
|
|
# The device exports an Analog interface, with the following channels:
|
|
# 0: X component of normalized, autocalibrated vector
|
|
# 1: Y component of normalized, autocalibrated vector
|
|
# 2: Z component of normalized, autocalibrated vector
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# float update_rate_to_send_analog_reports
|
|
# [one lines follows, describing the X Y Z, with:
|
|
# char name_of_analog_device[] (start with * for local)
|
|
# int x_channel_of_analog_device
|
|
# float x_offset (value ignored)
|
|
# float x_scale
|
|
# int y_channel_of_analog_device
|
|
# float y_offset (value ignored)
|
|
# float y_scale
|
|
# int z_channel_of_analog_device
|
|
# float z_offset (value ignored)
|
|
# float z_scale
|
|
# ]
|
|
|
|
#vrpn_IMU_Magnetometer Magnetometer0 100.0
|
|
#*Oculus0 8 0 -1.0 9 0 -1.0 10 0 -1.0
|
|
|
|
#vrpn_IMU_Magnetometer Magnetometer0 100.0
|
|
#*Vality0 6 0 1.0 7 0 1.0 8 0 1.0
|
|
|
|
################################################################################
|
|
# Inertial-measurement combiner. This is a tracker that combines
|
|
# analog values from inertial measurement units and reports orientation
|
|
# and orientation velocity.
|
|
# The accelerometer scale parameter should be set to produce values that
|
|
# are in meters/second/second. The rotational input scale parameters should
|
|
# be set to produce values that are in radians/second. The magnetometer
|
|
# scale should be set to produce a unit normal vector.
|
|
# One analog device is associated with an accelerometer, one with
|
|
# a rotational linear measurement device, and (optionally) one with
|
|
# a magnetometer.
|
|
# NOTE: The examples below map the axes to the OSVR coordinate system,
|
|
# which has +X pointing from the center of the eyes through the right eye,
|
|
# the +Y axis pointing straight up, and the +Z axis pointing out the back of
|
|
# the user's head.
|
|
#
|
|
# The device exports a Tracker interface with one sensor.
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
# float update_rate_to_send_reports
|
|
# [two lines follow, describing the accelerometer and rotational inputs:
|
|
# char name_of_analog_device[] (start with * for local)
|
|
# int x_channel_of_analog_device
|
|
# float x_offset
|
|
# float x_scale
|
|
# int y_channel_of_analog_device
|
|
# float y_offset
|
|
# float y_scale
|
|
# int z_channel_of_analog_device
|
|
# float z_offset
|
|
# float z_scale
|
|
# ]
|
|
# A third following line gives the name of the magnetometer, or the
|
|
# name NULL if one is not used. The name starts with * for a device
|
|
# that should be connected to on the same VRPN connection object
|
|
# being used for the output. For some systems, the magnetometer
|
|
# adds drift/wobble to the orientation estimates, so should not be
|
|
# used unless true north is required.
|
|
|
|
#vrpn_IMU_SimpleCombiner Tracker0 400.0
|
|
#*Oculus0 2 0 -1.0 3 0 -1.0 4 0 -1.0
|
|
#*Oculus0 5 0 1.0 6 0 1.0 7 0 1.0
|
|
#NULL
|
|
|
|
#vrpn_IMU_SimpleCombiner Tracker0 400.0
|
|
#*Oculus0 2 0 -1.0 3 0 -1.0 4 0 -1.0
|
|
#*Oculus0 5 0 1.0 6 0 1.0 7 0 1.0
|
|
#*Magnetometer0
|
|
|
|
#vrpn_IMU_SimpleCombiner Tracker0 400.0
|
|
#*Vality0 1 0 -1.0 0 0 1.0 2 0 1.0
|
|
#*Vality0 4 0 -1.0 3 0 1.0 5 0 1.0
|
|
#NULL
|
|
|
|
#vrpn_IMU_SimpleCombiner Tracker0 400.0
|
|
#*Vality0 1 0 -1.0 0 0 1.0 2 0 1.0
|
|
#*Vality0 4 0 -1.0 3 0 1.0 5 0 1.0
|
|
#*Magnetometer0
|
|
|
|
################################################################################
|
|
# nVidia Shield controllers. The only argument is the name of the device to open.
|
|
#
|
|
# The vrpn_nVidia_shield_USB is the original Shield controller, which has a
|
|
# touch-pad mouse, plugged into a USB port.
|
|
# The vrpn_nVidia_shield_stealth_USB is the newer model, which has a tesselated
|
|
# exterior and no touch pad.
|
|
#
|
|
# Note: On a mac, the shield controller sometimes requests shutdown on the machine
|
|
# when it is plugged in, and the volume controls control the volume,
|
|
# and the shield emblem causes it to sleep. The events are still
|
|
# passed through to VRPN. Also on a Mac, the Stealth controller does
|
|
# not present reports to VPRN, so is not useful.
|
|
# On the latest MacOS (11.6.5) the shield controller also does not pass
|
|
# events to VRPN, so it is not useful.
|
|
# Note: On Windows 8.1, this controller's touch pad controls the mouse and
|
|
# its analog events are not passed on to VRPN.
|
|
# On Linux, there are no system controls and all of the events are passed through
|
|
# to VRPN.
|
|
# Note: The rumble outputs are not yet implemented on the Stealth.
|
|
# Note: The mappings are the same for both devices, but the Stealth does
|
|
# not report some (which remain 0/off).
|
|
#
|
|
# Analogs:
|
|
# analog[0] is the left joystick X, -1 to left and 1 to right.
|
|
# analog[1] is the left joystick Y, -1 up and 1 down.
|
|
# analog[2] is the right joystick X, -1 to left and 1 to right.
|
|
# analog[3] is the right joystick Y, -1 up and 1 down.
|
|
# analog[4] is the left finger bumper, 0 unpressed and 1 pressed fully.
|
|
# analog[5] is the right finger bumper, 0 unpressed and 1 pressed fully.
|
|
# analog[6] is the touch pad X axis, lower to left and higher to right
|
|
# (Missing on the stealth)
|
|
# analog[7] is the touch pad Y axis, lower to top and higher to bottom
|
|
# (Missing on the stealth)
|
|
# analog[8] is the hi-hat X position (-1 left, 0 center, 1 right)
|
|
# analog[9] is the hi-hat Y position (-1 up, 0 center, 1 down)
|
|
#
|
|
# Buttons:
|
|
# button[0] A
|
|
# button[1] B
|
|
# button[2] X
|
|
# button[3] Y
|
|
# button[4] Left finger trigger
|
|
# button[5] Right finger trigger
|
|
# button[6] Left joystick pushed down
|
|
# button[7] Right joystick pushed down
|
|
# button[8] Touch pad assembly (including volume control) pressed down
|
|
# (Missing on the stealth)
|
|
# button[9] Play/pause icon touched
|
|
# button[10] Unknown
|
|
# button[11] Right volume control (+) pressed
|
|
# (Left arrow on the stealth)
|
|
# button[12] Left volume control (-) pressed
|
|
# (Circle on the stealth)
|
|
# button[13] Shield emblem touched
|
|
# button[14] Back icon touched
|
|
# button[15] Home icon touched
|
|
# button[16] Hi-hat up pressed (may chord with left/right)
|
|
# button[17] Hi-hat right pressed (may chord with up/down)
|
|
# button[18] Hi-hat down pressed (may chord with left/right)
|
|
# button[19] Hi-hat left pressed (may chord with up/down)
|
|
# button[20] Touch pad touched
|
|
#
|
|
|
|
#vrpn_nVidia_shield_USB shield0
|
|
#vrpn_nVidia_shield_stealth_USB shield0
|
|
|
|
################################################################################
|
|
# Adafruit 10DOF IMU I2C controller driver for Raspberry Pi.
|
|
# char name_of_this_device[]
|
|
# char name_of_system_device_to_open[]
|
|
# float update_interval_in_seconds
|
|
#
|
|
# Analogs:
|
|
# analog[0] is the X axis for the accelerometer, in meters/second/second
|
|
# analog[1] is the Y axis for the accelerometer, in meters/second/second
|
|
# analog[2] is the Z axis for the accelerometer, in meters/second/second
|
|
# analog[3] is the X axis for the rate gyro, in radians/second
|
|
# analog[4] is the Y axis for the rate gyro, in radians/second
|
|
# analog[5] is the Z axis for the rate gyro, in radians/second
|
|
# analog[6] is the X axis for the magnetometer, in XXX
|
|
# analog[7] is the Y axis for the magnetometer, in XXX
|
|
# analog[8] is the Z axis for the magnetometer, in XXX
|
|
# analog[9] will be the temperature in Celcius (not impl. as of 7/2016)
|
|
# analog[10] will be the pressure in Pascal (not impl. as of 7/2016)
|
|
# NOTE: This class is not completely implemented as of 7/2016.
|
|
# The accelerometer and gyro may be reading, but they are raw readings.
|
|
|
|
#vrpn_Adafruit_10DOF Analog0 /dev/i2c-1 10e-3
|
|
|
|
################################################################################
|
|
# OzzMaker BerryIMUIMU I2C controller driver for Raspberry Pi.
|
|
# char name_of_this_device[]
|
|
# char name_of_system_device_to_open[]
|
|
# float update_interval_in_seconds
|
|
#
|
|
# Analogs:
|
|
# analog[0] is the X axis for the accelerometer, in meters/second/second
|
|
# analog[1] is the Y axis for the accelerometer, in meters/second/second
|
|
# analog[2] is the Z axis for the accelerometer, in meters/second/second
|
|
# analog[3] is the X axis for the rate gyro, in radians/second
|
|
# analog[4] is the Y axis for the rate gyro, in radians/second
|
|
# analog[5] is the Z axis for the rate gyro, in radians/second
|
|
# analog[6] is the X axis for the magnetometer, in Gauss
|
|
# analog[7] is the Y axis for the magnetometer, in Gauss
|
|
# analog[8] is the Z axis for the magnetometer, in Gauss
|
|
# analog[9] will be the temperature in Celcius (not impl. as of 7/2016)
|
|
# analog[10] will be the pressure in Pascal (not impl. as of 7/2016)
|
|
|
|
#vrpn_OzzMaker_BerryIMU Analog0 /dev/i2c-1 10e-3
|
|
|
|
# Laputa VR HMD inertial measurement unit. This driver only provides IMU reports
|
|
# via analog and will need to use IMU combiner to get an orientation out of it.
|
|
#
|
|
# Arguments:
|
|
# char name_of_this_device[]
|
|
|
|
#vrpn_Laputa Laputa0
|
|
|
|
################################################################################
|
|
# vGlass Vality vGlass head-mounted display.
|
|
# char name_of_this_device[]
|
|
#
|
|
# Analogs:
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# analog[0] is the X axis for the accelerometer, in meters/second/second
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# analog[1] is the Y axis for the accelerometer, in meters/second/second
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# analog[2] is the Z axis for the accelerometer, in meters/second/second
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# analog[3] is the X axis for the rate gyro, in radians/second
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# analog[4] is the Y axis for the rate gyro, in radians/second
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# analog[5] is the Z axis for the rate gyro, in radians/second
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# (As of 7/11/2019, the magnetometer readings are not parsed.)
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# analog[6] is the X axis for the magnetometer, in microTesla
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# analog[7] is the Y axis for the magnetometer, in microTesla
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# analog[8] is the Z axis for the magnetometer, in microTesla
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#vrpn_Vality_vGlass Vality0
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