The values do not have substantially any continuity rule, i.e., the value of a number does not show the amplitude or the frequency of the vibrotactile feedback to the user. On the other side, the wearable interface is limited in the sense that we can only set to haptic feedback name a value to be sent to the wearable device.
This issue is mean to rethink if we can come out with some ideas possibly avoiding such hard-coded enum class specific to a wearable device.
cc @S-Dafarra
S-Dafarra
commented
2 years ago
At the moment, in the hapticGlove code, we have defined a hard coded values in an enum class for the thumper commands to activate or deactivate the palm haptic feedback to the user. Those are added in https://github.com/robotology/walking-teleoperation/blob/8d336ef917ebb993c42b0bcd05db10d9d30db316/modules/HapticGlove_module/include/GloveWearable.hpp#L38-L71 similarly to https://github.com/robotology/wearables/blob/ff6bd84a98f3fc01dc44e09af24475c2c72ce1ae/devices/HapticGlove/include/SenseGloveHelper.hpp#L38-L70 .
The values do not have substantially any continuity rule, i.e., the value of a number does not show the amplitude or the frequency of the vibrotactile feedback to the user. On the other side, the wearable interface is limited in the sense that we can only set to haptic feedback name a value to be sent to the wearable device.
The point raised in a PR comment in https://github.com/robotology/walking-teleoperation/pull/72#discussion_r781076048 .
This issue is mean to rethink if we can come out with some ideas possibly avoiding such hard-coded enum class specific to a wearable device. cc @S-Dafarra