Manav Kataria's Blog

Posts tagged “Tutorial

Tutorial – Using Novint Falcon with Matlab

This tutorial will take you through the following:
  1. Installing Falcon Drivers and Haptik Library
  2. Configuring Haptik Library to use Falcon
  3. Running Example programs with Haptik Library
Tutorial Change Log:
  • September 2012: Newer versions of Haptik Library released (1.2RC). DLLs from previous versions (1.1RC) now deprecated. See this comment.
  • October 2010: Incompatibility with Version 4.x driver.
  • November 2009: First Release.

NOTE: This tutorial has been tested with Haptik Library 1.1RC in 2009. More recent version of the library (1.2, released Feb 2012) are available now. This tutorial should be used as a guideline and is neither tested nor guaranteed to work with the latest version.

Installing Falcon Drivers and Haptik Library

Haptik library allows you to use the Falcon with Matlab.
  1. Download the Haptik Library 1.1RC and Falcon Plugin from the Haptik Library website:
    http://sirslab.dii.unisi.it/haptiklibrary/download.htm
  2. Haptik Library is compatible with 3.1.4 version and above (Update: It doesn’t seem to work with Version 4.x) of Novint Falcon Driver. Download & Install it.
    Novint’s website:
    http://home.novint.com/support/download.php
    http://home.iitb.ac.in/~kataria/media/setup.Falcon.v3.1.4.a_090407.exe
Haptik Library Homepage:

Configuring Haptik Library to use Falcon

  • Once done with the installation of the above, try runing sample programs provided with Haptik Libary on Matlab.
    C:\Program Files\Siena Robotics and Systems Lab\Haptik Library\Matlab
  • You will Haptik Library throwing an error: Haptik.Config.txt unavailable.
To fix this you will need to install ‘Haptik.Falcon.dll’ plugin and update the ‘Haptik.config.txt’ for falcon to work with Haptik:
  1. Copy Haptik.Falcon.dll to
    C:\Program Files\Siena Robotics and Systems Lab\Haptik Library\RSLib\Bin
  2. Update the config file:
    C:\Program Files\Siena Robotics and Systems Lab\Haptik Library\Matlab\Haptik.Config.txtChange the line:
    HaptikLibrary.plugin4_0 = Haptik.Spectre.dll    to
    HaptikLibrary.plugin4_0 = Haptik.Falcon.dll
  3. Relocate(or copy) the config file the application working directory.
    Application working directory is given by:
    >> pwd
    ans =
    C:\MATLAB7\work

Running Example programs with Haptik Library

Lets try Matlab examples again,
  1. Viewing Available Haptik Devices:
    >> haptikdevice_list
    ans =
    [0]    ‘Falcon [0]‘    ‘Falcon’    ‘Novint’
    >>Success! Matlab and Falcon can now talk!
  2. Run the horizontal_plane.m and play with it. You should be able to “feel” a horizontal plane.

Concluding Remarks

This completes the tutorial! You might want to explore horizontal_plane.m for better understanding of things. If you intend to use Matlab / Haptik for programming, I recommend make a vertical_plane.m to get started.

Hope this helps you get started!

Manav


Basic Python Workshop at IITB

A very neatly conducted workshop, driven by the open source initiative.

Basic Python [Slides]
Basic Python Exerciese Problems

Official Site with Videos and Downloads from the Workshop


My first Tabla lesson – a lesson in philosophy

My first lesson started today. Abhisekh is leaving tomorrow for France and was kind enough to spare his precious time. He sure is a man of his word!

We started with basic tabla atonomy, basic strokes and their names - bol. He further introduced and demonstrated various taals and rhythms and expressions of tabla music.

The experience was entertaining and enlightening. Entertaining and awe inspiring as to what depths of expressions can a tabla convey – its like reciting a story or a poem Abhisekh says and he demosntrated it!

Enlightening as to what I like about it and am already conditioned to — understand the emotions and expressions of music.  And revealing as to what I need to concentrate on and work on – rhythm, timing and stroke conditioning, strength, power and technique.

I discovered that I am totally into Western-Classical Fusion. I mentioned it as I realized I love combining music in harmony with an external musical input. Abhisekh adds driving independently and being driven – having both skills is equally important.

But just like being a good listener is not enough to be a good communicator, I realised that I would have to learn to “speak” the language as well – that is play it as well.

Inspirational Videos (incomplete):

  • the speaking hand
  • Zakir Hussain 4.30 min teen taal on Doordarshan
  • samir prasad?
  • ahmed (?)

Resources:

Homework — Practice (from Wikipedia-Teental) :

Teental has this characteristic pattern of bols (theka).

The Theka for Tintal
dha dhin dhin dha | dha dhin dhin dha |
x 2
na tin tin ta | tita dhin dhin dha |
o 3

Note the bols used for the first beat of each division: Dhaa, a bol involving both hands, is played at the beginning of the first, second and final divisions; for the khali section, Naa – a right hand bol – is used to indicate that the division is open. There are some pedagogical variations as to the actual syllables pronounced when reciting the bol, most of which occur in the final two vibhags.


Air Mouse: Construction and Working

Construction

Here is the circuit:

(more…)


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