Force feedback
Interfaces#
IForceFeedback#
TsSDK::IForceFeedback
Force Feedback can be used to capture the movement of the fingers and manage for fingers force feedback.
Properties
Fingers — IEnumerable< IForceFeedbackFinger > (read-only)
Returns per-finger force feedback interface.
IsPositionStreamingRunning — bool (read-only)
Returns positon streaming started state.
Methods
Enable#
void Enable(TsForceFeedbackConfig[] ffConfigs);Enables force feedback for a separate fingers.
Disable#
void Disable(TsHumanBoneIndex[] bones);Disables force feedback for a separate fingers.
StartPositionStreaming#
void StartPositionStreaming();Starts magnetic encoder angle data streaming.
StopPositionStreaming#
void StopPositionStreaming();Stops magnetic encoder angle data streaming.
IForceFeedbackFinger#
TsSDK::IForceFeedbackFinger
Provides force feedback finger control for Glove devices.
Properties
BoneIndex — TsHumanBoneIndex (read-only)
Finger bone index used to provide force feedback functionality.
FlexionAngle — float (read-only)
Flexion angle of the finger in degrees.
AbductionAngle — float (read-only)
Abduction angle of the finger in degrees.
IsEnabled — bool (read-only)
Finger force feedback enabled state.
Methods
Enable#
void Enable(float angle, byte hardness, TsForceFeedbackLockDirection direction);Enables force feedback.
Parameters
angle: float
Force feedback euler angles
hardness: byte
Force feedback hardness percent
direction: TsForceFeedbackLockDirection
Force feedback lock direction
Disable#
void Disable();Disables force feedback.
Data structures#
TsForceFeedbackConfig#
Force feedback config.
Describes servomotor force feedback control by bone index with the given angle in degrees and its direction.
Fields
bone TsHumanBoneIndex
angle float
hardness byte
direction TsForceFeedbackLockDirection
Enumerations#
TsForceFeedbackLockDirection#
Force feedback lock direction.
A direction value that corresponds for what side will be limited to move by servomotor.
Members
Up 1
Down 2
Both 3