# vrpn.cfg SAMPLE for VRPN version @CONFIG_VERSION@ ################################################################################ ################################################################################ # This file provides comments and examples for the vrpn.cfg file that is read # by the vrpn_server application when it starts up. This is a generic server # application that can start up many but maybe not all servers. # # This has sample lines for a vrpn.cfg file. If you get a new device working, # add a line for it here. DO NOT remove lines from this file (unless # devices are declared obsolete) - just change the actual vrpn.cfg to match # your application. # # All examples in the file are preceded by comment characters (#). To actually # use one of these examples, remove that character from the beginning of all the # examples that you want to use, and edit those lines to suit your environment. ################################################################################ ################################################################################ # NULL Tracker. This is a "device" that reports the Identity transformation for # each of its sensors at the specified rate. It can be used to verify # connections are working and for other tests of VRPN. # There are three arguments: # char name_of_this_device[] # int number_of_sensors # float rate_at_which_to_report_updates #vrpn_Tracker_NULL Tracker0 2 2.0 ################################################################################ # Spin Tracker. This is a "device" that reports a spinning rotation at the # origin for each of its sensors at the specified rate. It can be used to # provide smooth motion to debug rendering systems. # There are seven arguments: # char name_of_this_device[] # int number_of_sensors # float rate_at_which_to_report_updates # float x_of_axis_to_spin_around # float y_of_axis_to_spin_around # float z_of_axis_to_spin_around # float rotation_rate_around_axis_in_Hz #vrpn_Tracker_Spin Tracker0 1 200.0 0.0 1.0 0.0 0.1 ################################################################################ # WintrackerIII from VR SPace # Emiliano Pastorelli - Institute of Cybernetics, Tallinn (Estonia) # # Several other commands are available to control the device, a future version of the server will implement them too # # char name_of_the_device[] # activate sensor0 activate (1=activated, 0=deactivated) # activate sensor1 activate (1=activated, 0=deactivated) # activate sensor2 (1=activated, 0=deactivated) # activate range extender (1=activated, 0=deactivated) # hemisphere of operation (X = front hemisphere with X>0; Z = upper hemisphere with Z<0 ) # #vrpn_Tracker_Wintracker Wintracker0 1 0 0 0 X ################################################################################ # Example Button server. This is a "device" that reports on and off for # each of its buttons at the specified rate. It can be used to verify connections # are working and for other tests of VRPN. There are three arguments: # char name_of_this_device[] # int number_of_buttons # float rate_at_which_the_buttons_toggle (transitions/second) #vrpn_Button_Example Button0 2 2.0 ################################################################################ # Example Dial server. This is a "device" that reports constant rotations for # each of its dials at the specified rate. It can be used to verify connections # are working and for other tests of VRPN. There are four arguments: # char name_of_this_device[] # int number_of_dials # float rate_at_which_the_dials_spin (revolutions/second) # float rate_at_which_to_report_updates (updates/second) #vrpn_Dial_Example Dial0 2 2.0 10.0 ################################################################################ # Flock-of-birds Tracker. Runs an Ascension Flock of Birds tracker that is # attached to a serial port on this machine. Note that there is another driver # (listed below) that runs the Flock when each sensor is connected to its own # serial line. Arguments: # char name_of_this_device[] # int number_of_sensors # char name_of_serial_device[] # int baud_rate_of_serial_device # int invert_quaternion (0 = no, 1 = yes) # char useERT (OPTIONAL; defaults to yes) # char[2] active_hemisphere (OPTIONAL; defaults to +z) # # NOTE: for useERT: use nothing, y or Y if you have an extended range # transmitter, use N or n if not (added by David Nahon for Virtools # VRPack/SAS Cube. # NOTE: The "invert_quaternion" parameter was added because there was a # conflict between the code that had been around since VRPN started and # the Flock documentation -- it looks like most people had been using the # Flock in the "wrong" hemisphere, which inverted the orientation relative # to the position. The old behavior is obtained by specifying "1". Not # inverting it is specified using "0". # NOTE: active hemisphere is one of "+x", "-x", "+y", "-y", "+z", "-z" # If "active_hemisphere" is not specified, it defaults to +z. #vrpn_Tracker_Flock Tracker0 4 /dev/ttyS0 115200 1 # If you have to FOB, with no Extended Range ctrler/transmitter, on Windows, # with -x as the active hemisphere, use #vrpn_Tracker_Flock Tracker0 2 COM1 38400 1 N -x # Watch: be sure that the serial baud rate dip switches (the 3 on the left) # of your master flock are properly set. # You should try baud rates like 38400 before trying to go higher # In normal address mode - less than 14 fob units - your switch should be: # 0 1 2 3 4 5 6 7 # 0 0 1 X X X X 0 2400 # 0 1 0 X X X X 0 4800 # 0 1 1 X X X X 0 9600 # 1 0 0 X X X X 0 19200 # 1 0 1 X X X X 0 38400 # 1 1 0 X X X X 0 57600 # 1 1 1 X X X X 0 115200 # # X X X X are used for coding the FOB address, they must be set correctly, # even if you are only using 1 unit (standalone mode) # the settings should be (in normal address mode): # 3 4 5 6 # 0 0 0 1 for the first unit # 0 0 1 0 for the second unit # 0 0 1 1 for the third # 0 1 0 0 for the fourth # 0 1 0 1 for the fifth # ... # ############################################################################ # WATCH WATCH WATCH WATCH WATCH WATCH WATCH WATCH WATCH WATCH WATCH WATCH ################### # # On windows at least, it might be necessary to cut your serial cable so as # to only have Transmit, Receive and Ground pins. Even if CBIRDS or WINBIRDS # are fine with a cable, it doesn't mean that this cable will please vrpn. # This limitation should have been fixed with version 06.05. # ################### ################################################################################ # Flock-of-birds in parallel Tracker. Runs an Ascension Flock of Birds tracker # that has its source and each sensor plugged into its own serial port on this # machine (perhaps through a Cyclades multi-port serial card). This mode of # operation increases the throughput and decreases the latency of tracker reports. # The arguments match those of the Flock-of-birds tracker from above, with the # addition of the name of the serial ports for each of the sensors added at the # end. Arguments (all on the same line): # char name_of_this_device[] # int number_of_sensors # char name_of_serial_device_for_controller[] # int baud_rate_of_serial_device # int invert_quaternion (0 = no, 1 = yes) # [one for each sensor] char name_of_serial_device_for_sensor[] # # NOTE: The "invert_quaternion" parameter was added because there was a # conflict between the code that had been around since VRPN started and # the Flock documentation -- it looks like most people had been using the # Flock in the "wrong" hemisphere, which inverted the orientation relative # to the position. The old behavior is obtained by specifying "1". Not # inverting it is specified using "0". #vrpn_Tracker_Flock_Parallel Tracker0 4 /dev/ttyC4 115200 1 /dev/ttyC0 /dev/ttyC1 /dev/ttyC2 /dev/ttyC3 #vrpn_Tracker_Flock_Parallel Tracker0 2 COM1 115200 1 COM2 COM3 ################################################################################ # Fastrak Tracker. Runs a Polhemus Fastrak tracker that is attached to a serial # port on this machine. This driver will also run an InterSense IS600 or IS900 # tracker, but you will want to include extra initialization code (as described # below) to set up the ultrasonic pip information, wand devices, stylus devices # and so forth. Arguments that go on the first line: # char name_of_this_device[] # char name_of_serial_device[] # int baud_rate_of_serial_device # # It is possible to add additional commands that will be sent to the tracker # by putting the backslash character (\) at the end of the config line. This # will cause the following line to be read in and sent to the Fastrak during # the reset routine. You can add additional lines by putting a slash at the # end of each command line but the last. Each line will be sent to the Fastrak # with a newline at the end of it. If a line starts with an asterisk (*), then # it is treated as a line telling how long to sleep, with the integer number of # seconds following the *. # # If one or more sensors on the Fastrak have a stylus button on them, use # the "FTStylus" command after the reset command lines (if any). There should # be a front-slash "/" character at the end of the line before the FTStylus # command. The command takes two arguments: the name of the button device # that will report the buttons and the sensor number to which the button is # attached (the first sensor is sensor 0). # # Commands to add Joysticks (2 buttons) or Wands (5 buttons and 2 analogs) to # the various sensors on the Isense900 are done by adding Stylus and # Wand command lines after the reset command lines. Each of these lines # takes two arguments: the name of the button (for Stylus) or button and # analog (for Wand) servers, and the sensor number (starting from 0). The # Wand line takes eight additional parameters, which specify the scaling # and clipping behavior of the two directions on the analog joystick. Each # set of for is the min, lowzero, hizero, and max values: these are mapped # to -1, 0,0, and 1 (all values between lowzero and hizero are mapped to 0). # Start with these at -1,0,0,1 and use the 'printcereal' program or some other # method to read them and see what the range of acheivable values is. Then, # set them to slightly conservative values so that the whole range is covered # and the analogs will report zero when the joystick is centered. The # presence of these lines is indicated by placing them after any additional # reset command lines, by ending the line preceding them with the front slash # "/" character. # # 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. The button device name is defined on the stylus or # wand line in the config file, and should not be the same as the tracker. In # the case described by the example configuration below, if the name of the # machine running the server is "myis900server" you would connect to the tracker # as "Isense900@myis900server" and to the buttons on the stylus as # "Stylus0@myis900server": # # Note that this frontslash and backslash-notation can only be used for the # Fastrak/Isense tracker, not to extend the line for any other type of device # listed in this configuration file. # Vanilla Fastrak on on a Unix box #vrpn_Tracker_Fastrak Fastrak0 /dev/ttyS0 19200 # Fastrak with a stylus on sensor zero on a Windows box #vrpn_Tracker_Fastrak Tracker0 COM1 115200 / #FTStylus Stylus0 0 # IS600 and its pip settings #vrpn_Tracker_Fastrak Isense600 /dev/ttyS0 19200 \ #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_Fastrak Isense900 COM1 115200 / #Wand Wand0 0 -1.0 0.0 0.0 1.0 -1.0 0.0 0.0 1.0 / #Stylus Stylus0 2 ################################################################################ # Isotrak Tracker. Runs a Polhemus Isotrak tracker that is attached to a serial # port on this machine. Arguments that go on the first line: # char name_of_this_device[] # char name_of_serial_device[] # int baud_rate_of_serial_device # # It is possible to add additional commands that will be sent to the tracker # by putting the backslash character (\) at the end of the config line. This # will cause the following line to be read in and sent to the Isotrak during # the reset routine. You can add additional lines by putting a slash at the # end of each command line but the last. Each line will be sent to the Isotrak # with a newline at the end of it. If a line starts with an asterisk (*), then # it is treated as a line telling how long to sleep, with the integer number of # seconds following the *. #vrpn_Tracker_Isotrak TrackerIsotrak /dev/ttyS0 115200 \ #H1,0,1,0 ################################################################################ # Liberty Tracker. Runs a Polhemus Liberty tracker that is attached to a serial # port (perhaps a USB-to-RS232 adapter) on this machine. Arguments that go on # the first line. # char name_of_this_device[] # char name_of_serial_or_usb_device[] # int baud_rate_of_serial_device (not used when the device is USB) # int number_of_chars_in_whoami_response (optional) # # It is possible to add additional commands that will be sent to the tracker # by putting the backslash character (\) at the end of the config line. This # will cause the following line to be read in and sent to the Liberty during # the reset routine. You can add additional lines by putting a slash at the # end of each command line but the last. Each line will be sent to the Fastrak # with a newline at the end of it. If a line starts with an asterisk (*), then # it is treated as a line telling how long to sleep, with the integer number of # seconds following the *. # # If one or more sensors on the Liberty have a stylus button on them, use # the "Stylus" command after the reset command lines (if any). There should # be a front-slash "/" character at the end of the line before the Stylus # command. The command takes two arguments: the name of the button device # that will report the buttons and the sensor number to which the button is # attached (the first sensor is sensor 0). # # ------------------------------------------- # Example when Liberty is attached via USB # The BAUD Rate is needed, although it is not used #vrpn_Tracker_Liberty Liberty /dev/usb/ttyUSB0 115200 #-------------------------------------------- # Example when Liberty is attached via Serial #vrpn_Tracker_Liberty Liberty /dev/ttyS0 115200 #-------------------------------------------- # Example when Liberty is attached via Serial with a non-standard whoami length #vrpn_Tracker_Liberty Liberty /dev/ttyS0 115200 247 #-------------------------------------------- # Liberty attached via Serial with styluses on sensors zero and three #vrpn_Tracker_Liberty Tracker0 /dev/ttyS0 115200 / #Stylus Stylus0 0 / #Stylus Stylus1 3 ################################################################################ # High Speed Liberty Latus Tracker. Runs a Polhemus Liberty Latus tracker that # is attached to a USB port on this machine. Arguments that go on the first line # char name_of_this_device[] # int number_of_markers_to_detect # int baud_rate_of_usb_device # int number_of_chars_in_whoami_response (optional) # # It is possible to add additional commands that will be sent to the tracker # by putting the backslash character (\) at the end of the config line. This # will cause the following line to be read in and sent to the Liberty during # the reset routine. You can add additional lines by putting a slash at the # end of each command line but the last. Each line will be sent to the Fastrak # with a newline at the end of it. If a line starts with an asterisk (*), then # it is treated as a line telling how long to sleep, with the integer number of # seconds following the *. # ------------------------------------------- # Example when Liberty Latus is attached via USB # The BAUD Rate is needed, although it is not used #vrpn_Tracker_LibertyHS LibertyHS 3 115200 ################################################################################ # InterSense tracker using the Intersense-provided library to communicate # with the tracker. 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_INTERSENSE when compiling. Note that the Fastrak driver will # run IS-600 and IS-900 trackers without the proprietary library, so you might # try that as well. # # You can include extra initialization code (as described # below) to set up the ultrasonic pip information, wand devices, stylus devices # and so forth. Arguments that go on the first line: # char name_of_this_device[] # char name_of_serial_device[] - this can be COM1-4 or AUTO # AUTO will automatically find USB and # serial trackers. Use COM1-4 only if you # have more than one serial tracker. # You should use COM1-4 on unix as well, # as these just tell the isense library # to look in serial port 1-4. # I guess you can't have >1 USB trackers. # char "IS900time" - use the IS900 timestamps (optional) # char "ResetAtStartup" - resets all boresight and heading, on intertrax, # equivalent to push the reset button # # It is possible to add additional commands that will be sent to the tracker # by putting the backslash character (\) at the end of the config line. This # will cause the following line to be read in and sent to the InterSense during # the reset routine. You can add additional lines by putting a slash at the # end of each command line but the last. Each line will be sent to the InterSense # with a newline at the end of it. If a line starts with an asterisk (*), then # it is treated as a line telling how long to sleep, with the integer number of # seconds following the *. # # Commands to add Joysticks (2 buttons) or Wands (5 buttons and 2 analogs) to # the various sensors on the Isense900 are done by adding Stylus and # Wand command lines after the reset command lines. Each of these lines # takes two arguments: the name of the button (for Stylus) or button and # analog (for Wand) servers, and the sensor number (starting from 0). The # Wand line takes eight additional parameters, which specify the scaling # and clipping behavior of the two directions on the analog joystick. Each # set of for is the min, lowzero, hizero, and max values: these are mapped # to -1, 0,0, and 1 (all values between lowzero and hizero are mapped to 0). # Start with these at -1,0,0,1 and use the 'printcereal' program or some other # method to read them and see what the range of acheivable values is. Then, # set them to slightly conservative values so that the whole range is covered # and the analogs will report zero when the joystick is centered. The # presence of these lines is indicated by placing them after any additional # reset command lines, by ending the line preceding them with the front slash # "/" character. # # 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. The button device name is defined on the stylus or # wand line in the config file, and should not be the same as the tracker. In # the case described by the example configuration below, if the name of the # machine running the server is "myis900server" you would connect to the tracker # as "Isense900@myis900server" and to the buttons on the stylus as # "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 (https://www.ar-tracking.com) DTrack/DTrack2/DTRACK3 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[] # char dtrack_connection[] (connection to DTRACK Controller, can be: # (DTRACK is sending data to this UDP port) # : (plus optional multicast IP address) # ::fw (plus hostname/IP address of # DTRACK Controller, for use with stateful firewall) ) # # 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: to use multicast UDP or enabling UDP traffic through a stateful firewall, the VRPN server # needs to be built with option VRPN_USE_WINSOCK2 # # 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 'Flystick2' or newer 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 225.1.1.1:5000 #vrpn_Tracker_DTrack DTrack 10.10.1.1:5000:fw #vrpn_Tracker_DTrack DTrack atc-302401001:5000:fw #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 tag and ends with a 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 # # 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 # # # 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 # #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 # ################################################################################ # 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= # 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 ################################################################################ # Clone of a Microsoft Xbox 360 controller using a different product ID and # vendor ID. # These are constructed by adding third and fourth arguments to the # vrpn_Microsoft_Controller_Raw_Xbox_360 command listed above. These are # the hex-coded vendor and product IDs (VID PID) to use. #vrpn_Microsoft_Controller_Raw_Xbox_360 device0 0x045e 0x028e #vrpn_Microsoft_Controller_Raw_Xbox_360 wireless0 0x045e 0x02a1 #vrpn_Microsoft_Controller_Raw_Xbox_360 AfterGlowAX1 0x0e6f 0x0213 #vrpn_Microsoft_Controller_Raw_Xbox_360 LogitechF310 0x046D 0xC21D ################################################################################ # 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 have a graphic on the button and are referred to the text enclosed text in the help) # 0=Menu # 1=Fit # 2= # 4= # 5= # 8= # 12=1 # 13=2 # 14=3 # 15=4 # 22=Esc # 23=Alt # 24=Shift # 25=Ctrl # 26= # # 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 # (The 2 in the following device is the same device but with a different PID) #vrpn_3DConnexion_SpaceMouseWireless2 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: # 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 # (As of 7/11/2019, the magnetometer readings are not parsed.) # analog[6] is the X axis for the magnetometer, in microTesla # analog[7] is the Y axis for the magnetometer, in microTesla # analog[8] is the Z axis for the magnetometer, in microTesla #vrpn_Vality_vGlass Vality0