phua_haptic_interface
This package provides haptic control over the LAR humanoid robot.
The application gives the user the possibility to control the robot using a SensAble PHANToM OMNI joystick over an RS232 type connection.
The interface allows the user to select the limbs or limb groups he wants to control and a set of preferences for each type of control.
Program usage:
Calling the application without arguments will force the program to try and use the standard USB port "/dev/ttyUSB0".
If the user wishes to use another port, calling the apllication with the path to the selected port will make the program use it.
If this aspect is of no importance, and the user only wishes to see the program interface and test functions, calling the aplication
with the flag "--debug" will force the program to ignore servomotor communication and joystick initialization.
There is also a "--help" flag that prints to the console a help text for common issues and program usage.
[REST OF DESCRIPTION TO BE ADDED SHORTLY... :-)]
