19
7.4
running the demonstrations programs
Two demonstration programs can also be used to diagnose the device. The source code and an
executable file for each of these demonstration programs are provided in two separate directories
named
\gravity
and
\torus
.
Once the system is setup, we suggest running application
gravity
to check that everything is
working properly and to evaluate your system's performance independently of the graphics ren-
dering performance. Application
torus
will allow you to test the combined performance of hap-
tics and graphics rendering.
gravity example
This example program runs a best effort haptic loop to compensate for gravity. The appropriate
forces are applied at any point in space to balance the device end-effector so that it is safe to let
go of it. The refresh rate of the haptic loop is displayed in the console every second.
figure 9 – gravity example
