Author: Arun Kumar

This repository contains the software for a VR Haptic drum kit. Click Here For An In-Depth Project Summary

This software is meant for use with the Valve Index, SteamVR Base Station 2.0, and ODrive.

• OpenXR
• Vulkan
• Eigen3
• nuhal

• data
  • logged data from haptic experiments
  • each folder within data has a python script that is used to plot the csv files
• drum
  • Pure Data drum synthesizer
  • samples used in synthesizer
• include
  • graphics
    • header files for OpenXR program
    • these files are stripped back versions of the hello_xr OpenXR example
  • haptics
    • header files for motor communication and haptic modeling
• src
  • graphics
    • source files for OpenXR program
    • these files are stripped back versions of the hello_xr OpenXR example
  • haptics
    • source files for motor communication and haptic modeling
• vulkan_shaders
  • shaders for OpenXR program

1. compile
   1. make build directory mkdir build
   2. change directory to build cd build
   3. build project cmake ..
   4. compile project make
2. setup Odrive
   1. power ODrive and connect it to computer
   2. launch odrivetool in terminal odrivetool
   3. calibrate motor odrv0.axis0.requested_state=AXIS_STATE_FULL_CALIBRATION_SEQUENCE
   4. set motor in closed loop control odrv0.axis0.requested_state=AXIS_STATE_CLOSED_LOOP_CONTROL
      1. There is a bug in the ODrive ASCII protocol that prevents you from setting the state. These steps cannot be done through the motor communication library.
3. launch drum_kit.pd pd {project}/drum/drum_kit.pd
4. launch SteamVR
5. put on haptice device
6. place controller vertical in the location you want the snare drum
7. run executable and pipe output to Pure Data {project}/build/drumkit | pdsend 8080

• drumkit - haptic drum kit
  • arguement 1 - ODrive port name
  • if no arguements given, script uses the default port name
  • output must be piped to Pure Data through port 8080
• encoder_spring - 1 degree of freedom spring using encoder feedback, see this for more details
  • argurement 1 - log file name
  • arguement 2 - port name
  • if no arguements given, script does not log data and uses the default port name
• vr_spring - 1 degree of freedom spring using vr tracking feedback, see this for more details
  • argurement 1 - log file name
  • arguement 2 - port name
  • if no arguements given, script does not log data and uses the default port name