Haptic Feedback Evaluation Kit User Manual
Contents
1. HAPTIC FEEBACK EVALUATION KIT HAPTIC CONTROLLER HAPTIC GRIP ARDUINO HAPTIC Uno 51 SHIELD O O OO ee O OOO Ue he CU Min asst as signs reas i aie es et ae vc wc a ea a a a a an vg Figure 1 Haptic Feedback Evaluation Kit System View The Haptic Controller includes an Arduino Uno R3 with a custom designed shield from Precision Microdrives It acts as the user interface allowing the user to navigate through the menu systems on the OLED screen using the capacitive touch buttons It also houses the hardware used to drive the motors including a DRV2605 from Texas Instruments for haptic feedback Section 5 2 and a MOSFET for simple vibration alerting Section 5 3 Figure 2 The Haptic Controller The Haptic Grip contains the actuators that play the various vibra tion patterns sent by the Haptic Controller The two are connected by a ribbon cable that carries the power drive and motor selection p RECHIN signals With 3 different eccentric rotating mass vibration motors M NA CRODRNE and 1 linear resonant actuator the grip houses actuators from our eww es comm high performance Precision Haptic range Figure 3 The Haptic Grip Haptic Feedback Evaluation Kit User Manual 2 1 The Haptic Controller Arduino is an open source development platform for electronics which has many differe2. 9 96 9 SiSiSialwini 8 8 8 8 8 8 5 S SS o 2 3 7 Transition Click 1 100 Transition Click 2 80 Transition Click 3 60 Transition Click 4 40 2 Transition Click 5 20 N Menu Clicks gt Single gt Strong Clicks gt Single gt Strong m 0 a rt Clicks gt Single gt Strong Clicks gt Single gt Tick Clicks gt Single gt Tick Clicks gt Single gt Tick Other gt Bumps Other gt Bumps Other gt Bumps Clicks gt Double gt Strong Clicks gt Double gt Strong Clicks gt Triple Other gt Buzzes Other gt Buzzes Other gt Alerts Other gt Alerts Clicks gt Single gt Strong Clicks gt Single gt Strong Clicks gt Single gt Strong Clicks gt Single gt Strong Clicks gt Single gt Medium Clicks gt Single gt Medium Clicks gt Single gt Medium Clicks gt Single gt Tick Clicks gt Single gt Tick Clicks gt Single gt Tick Clicks gt Double gt Strong Clicks gt Double gt Strong Clicks gt Double gt Strong Clicks gt Double gt Strong Clicks gt Double gt Medium Clicks gt Double gt Medium Clicks gt Double gt Medium Clicks gt Double gt Tick Clicks gt Double gt Tick Clicks gt Double gt Tick Clicks gt Double gt Strong Clicks gt Double gt Strong Clicks gt Double gt Strong Clicks gt Double gt Strong Clicks gt Double gt
3. 3 3 i Time Time U U A TRI SAW 0 gt gt 4J m 3 3 Time Time Figure 15 Vibration Alerting Waveforms 2 Power The power represents the peak strength and is a percentage of the motor s rated voltage selectable in 10 increments 3 OnTime The on time determines the length of time the waveform is played across 4 Off Time The off time controls the rest period between each wave cycle Increasing the off time reduces the frequency of alerts whereas setting it to zero immediately restarts the vibration waveform 13 Haptic Feedback Evaluation Kit User Manual This image shows how the four variables affect the vibration output On Time Off Time S Elon Input Voltage Power Time Figure 16 Vibration Alerting Variables To change the vibration alert change the desired variable by navigating to its menu option and press select Then use the left and right buttons to change the value press back or select to confirm the change To play the waveform once the four variables have been set press the play button To change the output actuator press the PMD button cycling to the desired ERM 5 4 Debugging Feature The Engineering Firmware includes an additional debug feature to help you understand the status of the kit Selected information can be passed up the USB connection to a computer running the Arduino software Therefore this mode can only be used when the kit is po
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6. E 11 s TOCA IE o E E sake 11 N 12 8 meta eee 14 Development Mode E r E 16 17 Gee MIN oS ag ESS re ete mer ee ee een eee 17 EKEN na S ACUO 17 Oa O a E E 18 OB Changing Modes o aeeai 18 6 5 Editing the Arduino Code and Using the DRV2605 Arduino 81 19 6 6 Using The DRV2605 Auto Calibrate Feature ooo eeeeeeneeneeeeeeeeeeeeeeeseeeseaeeaeeeeeesaesaesaaseseeseseeaesaeeaneeteetees 19 FFI SS ee E ecna varus eu isuies do viu sce aurea eos an 20 Haptic Feedback Evaluation Kit User Manual 1 Introduction The Haptic Feedback Evaluation Kit is an open source platform for experiencing haptic feedback and vibration alerting It serves a wide range of users Those unfamiliar with the technology will benefit from the introductory mode and its tutorials In addition the kit will support engineers and product designers throughout the development process by providing an easy to use platform for hardware and
7. Engineering Mode firmware to test all the available features of the kit by loading it onto the Arduino instructions in Section 6 4 4 1 Navigation There is a single top level menu that includes the four demonstrations tutorials To navigate between these menu options use the left and right buttons To enter a menu option press select Although they have different content the menu options all work in the same way Press right to navigate forward through the slides At specific points you will be prompted to press the play button to experience different effects To repeat the effects press play again You can exit the current demo tutorial at any point and return to the top menu by pressing the back button In the Intro Mode the PMD button Is not used 4 2 Menu Options 4 2 1 Quick Start Demo The Quick Start Demo is a short overview that allows the user to experience vibration alerting first followed by haptic feedback The demonstration is very basic and is suitable for introducing the idea of adding vibration technology to a device useful for sharing the concept with non technical colleagues Haptic Feedback Evaluation Kit User Manual 4 2 2 Haptic Feedback Tutorial The Haptic Feedback Tutorial is designed to give the user an overview of haptic effects with example vibration patterns It also includes an example application of a car parking sensor showing how different haptic vibration patterns can be used to co
8. Q 5 51 uw 85 28 2 3 amp aoe s 50 Smooth Hum 50 Smooth Hum 40 Smooth Hum 30 Smooth Hum 20 Smooth Hum 10 Menu Other gt Hums Other gt Hums Other gt Hums Other gt Hums Other gt Hums Other gt Hums Ramps gt Down gt Long Ramps gt Down gt Long Ramps gt Down gt Medium Ramps gt Down gt Medium Ramps gt Down gt Strong Ramps gt Down gt Strong Ramps gt Down gt Long Ramps gt Down gt Long Ramps gt Down gt Medium Ramps gt Down gt Medium Ramps gt Down gt Strong Ramps gt Down gt Strong Ramps gt Up gt Long Ramps gt Up gt Long Ramps gt Up gt Medium Ramps gt Up gt Medium Ramps gt Up gt Short Ramps gt Up gt Short Ramps gt Up gt Long Ramps gt Up gt Long Ramps gt Up gt Medium Ramps gt Up gt Medium Ramps gt Up gt Short Ramps gt Up gt Short Ramps gt Down gt Long Ramps gt Down gt Long Ramps gt Down gt Medium 5 a 3 v O 3 v D Q 3 Q Q m a i 5 6 Ramps gt Down gt Strong Ramps gt Down gt Strong Ramps gt Down gt Long Ramps gt Down gt Long Ramps gt Down gt Medium Ramps gt Down gt Medium Ramps gt Down gt Strong Ramps gt Down gt Strong Ramps gt Up gt Long Ramps gt Up gt Long Ramps gt Up gt Medium Ramps gt Up gt Medium Ramps gt Up gt Short Ramps gt Up gt
9. Short Ramps gt Up gt Long Ramps gt Up gt Long Ramps gt Up gt Medium Ramps gt Up gt Medium Ramps gt Up gt Short Ramps gt Up gt Short Other gt Buzzes Other gt Hums Other gt Hums Other gt Hums Other gt Hums Other gt Hums Haptic Feedback Evaluation Kit User Manual G DRV2605 Arduino Library Summary Parent Recommended object Motor motor Motor The Motor object encapsulates DRV2605 functionality and gives a simpler interface to playing vibration alerts and haptic effects Only one should be instantiated at a time as demonstrated in the IntroMode and EngineeringMode sketches Motor cpp Recommended object extern DRV2605 drv2605 The DRV2605 class abstracts away the I2C communications to the DRV2605 chip providing a streamlined interface for playing effects Only one DRV2605 object should be instantiated If using the DRV2605 object from the Motor class use extern as above N A debug cpp Parameter amp Limits 0 O lt ints3 A 2 3 J EE D Q 3 3 O lt ints3 Ajoa 2 Triangle 3 Sawtooth O lt wi lt 100 0 100 The peak output strength of the selected waveform always goes from 0 to pwr value Function Syntax selectMotor motorID isCalibrated autoCalibrate playVibAlert waveform pwr onTime offTime playFullHaptic library effect getMotorID isPlaying is
10. current Effect Library the selected Effect and the output Motor Library 1 Effect 1 selected Effect Piet af at ee i Sea BIE 1 7 ts f Output Motor Figure 12 True Haptic Menu Layout The tabs at the top will snow menu options until you navigate deep enough to the effects Effects are displayed differently and are identified by the effect number For example in the menu level True Haptics gt Clicks gt 11 Haptic Feedback Evaluation Kit User Manual Double there are 3 further menu options Strong Medium and Sharp Selecting the menu option Medium displays 6 different effects Medium 1 to Medium 6 Library 1 os Effects Motor Example of menu i Example of effect option no number i option number OLED x identifier Figure 13 Menu Option Tab vs Effect Option Tab There is an effect loaded and ready to play at all times by default this is Effect 1 Library 1 on Motor 305 000 Pressing play will send the effect to the selected motor in the Haptic Grip To play an effect press the play button at any point Note if pressing the play button at any menu level will play the loaded effect unless your menu is at a new effect In this case the kit will play the new effect shown on screen instead of the previous one loaded To change the effect use the left right and select buttons to navigate to the desired new effect and press the
11. 6413 938 9037101303 SSA 4038313 GGA HONOL NOISYSANOD 13441 Zl aN9 NOISYSANOD 13441 IdS AV1dSIG 4310 O 7 A g gt 2 ry T 4 l ru one N3 3 st D a m C3 i dy AG wid gt Os 5 5 5 ONINGYV 25 Haptic Feedback Evaluation Kit User Manual C Actuator Table Note there are C10 100s located in both the Haptic Grip and the Haptic Controller for feedback on the touch buttons The blank cells are for you to record actuators that you want to use with the kit Typical Rated Resonant Model Number Type Normalised Vibration Rated Voltage Image Full Datasheet Amplitude Frequency B n ES 306 109 ERM 3 5G 200 Hz rated 308 102 ERM 5 5 G 300 Hz rated C10 100 LRA 1 4 G 175 Hz resonant Download 305 000 Datasheet Haptic Feedback Evaluation Kit User Manual Haptic Feedback vs Vibration Alerting Vibration Alerting NNE Simple vibration patterns to notify users of an event Strong vibrations to catch operator s attention Ss O Conveys Discrete Enhanced Simple amp Discrete Effective Information Experience Inexpensive Alert Haptic Feedback Advanced vibration patterns to convey infromation simulate clicks amp button presses with predefined haptic waveforms 1 50 0 70 1 20 2 20 2 70 27 0 20 1 25 0 70 Budgetary pricing for
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14. in the Arduino and you can build your own patterns in the Engineering Mode Section 5 The LRA in the Haptic Grip cannot be driven by the MOSFET e Linear Resonant Actuator Touchscreens are a common application for haptic feedback where the tactile feel of pressing buttons is lost Naturally we have included an LRA C10 100 on the Haptic Shield to provide the user with haptic confirmation of their presses on the capacitive touch surface It too is driven by the DRV2605 and will give different effects for different confirmations which can be changed in the software e Metal Base The Haptic Controller is finished with a metal base that supports the Arduino and Haptic Shield Mounting holes are positioned to fit the Arduino which use rubber mounts to improve mechanical isolation between metal base and the Arduino with shield This helps reduce noise from the LRA vibrating There is also a clip section to help secure the ribbon cable to provide strain relief and stop the connector from being damaged through mishandling Js ae f TAP rF Figure 8 C10 100 Linear Resonant Actuator Figure 9 Metal Base Section Haptic Feedback Evaluation Kit User Manual 2 2 The Haptic Grip The Haptic Grip is a small ergonomic unit that houses the vibrating actuators Using a separate unit has several benefits 9 Allows us to easily include multiple actuators Has a form factor that is
15. output component that creates the vibration force either an ERM or LRA An open source electronics prototyping platform Often used to refer to the specific board in use 6 0 connect to pin D3 on the Arduino The Haptic Feedback Evaluation Kit uses an Arduino Uno R3 board A feature of the DRV2605 that calibrates the driver to compensate for the actuators characteristics improving haptic performance Haptic driver chip from Texas Instruments Mounted on the Haptic Controller it stores 123 different haptic effects and sends the drive signal to the actuator after receiving instruction from the Arduino via 12C Eccentric Rotating Mass a type of vibration motor that rotates an unbalanced load to http www precisionmicrodrives com vibrating vibrator vibration motors pager motors erm motors create displacement The section of the Haptic Feedback Evaluation Kit that acts as the user interface It contains the capacitive touch buttons for input an OLED screen for navigation the Arduino for processing and the DRV2605 and MOSFET to drive the actuators Using advanced vibration patterns to communicate information to the user The patterns are achieved by using different drive techniques such as Active Braking and Overdrive which are normally created using a dedicated haptic driver The combination of the Haptic Controller and Haptic Grip creating a complete system for users to learn about haptic feedback and e
16. resources as they describes the functions available for use in the Development Mode and the pins required by different components on the Haptic Shield These can both be downloaded from precisionmicrodrives com haptic kit documents 16 Haptic Feedback Evaluation Kit User Manual Advanced Options The kit has 8 number of additional features to aid understanding of key concepts and assist further development and prototyping 7 1 Test Points Several SMD test points are available across the Haptic Controller and Haptic Grip to view various signals on an oscilloscope or connect to other instrumentation It is also possible to use them as connection points for input signals or to connect an external actuator These include e EN Connects to DRV pin Al EN and Arduino pin D4 The EN enable pin switches the DRV2605 between active and a low power standby state e PW M Connects to DRV pin B1 IN TRIG and Arduino pin D9 The IN TRIG pin is one of the most versatile on the DRV2605 Depending on the register values accessed via I2C the signal sent to this pin can put the DRV2605 into a number of different operation modes This is best explained in the DRV2605 datasheet and this test point can either be used as an input or to monitor the signal sent by Arduino e GND Connects to DRV pin B3 GND and the ground throughout the shield and Arduino It can be used to set a common ground between the Haptic Cont
17. software prototyping This document provides technical details on each section of the kit guides for installation and usage and advice for accessing advanced features There is also a Quick Start Guide provided with the kit to get users up and running immediately Additional copies of the guides and more resources such as tutorials and example code can be downloaded from precisionmicrodrives com haptic kit features It is also recommended you request a copy of the full datasheet for the DRV2605 from Texas Instruments the haptics driver which the kit uses A shortened datasheet is available for download online and you can request the full copy using the link in the Special Note section here www ti com product drv2605 For additional advice about vibration motors and haptic feedback in general can be found online in the Tech Blog and App Notes sections of www precisionmicrodrives com If you experience any issues or are looking for further advice please contact Precision Microdrives at enquiries precisionmicrodrives com ATTENTION DO NOT use the DC power connector Only use the USB connection to power the kit see Section 2 2 for more details Haptic Feedback Evaluation Kit User Manual 2 System Overview The Haptic Feedback Evaluation Kit is comprised of two main units the Haptic Controller and the Haptic Grip
18. to start quicker A transistor that can act as a switch to control a component that draws a lot of current e g an ERM with a low current source e g an Arduino Can support a PWM signal for vibration alerting Pulse Width Modulation a digital signal of a fixed frequency The on time vs off time of a single clock cycle is expressed as a percentage and known as the duty cycle Varying the duty cycle can control the speed and vibration strength of an ERM Implemented by the Arduino using the analogWrite function details on this can be found at Arduino cc en reference analogwrite Using basic vibration patterns to communicate information to the user Typically used to alert the user to an event in a simple on off vibration pattern Normally created with a PWM signal and a MOSFET although dedicated drivers are also commonly used for additional benefits Haptic Feedback Evaluation Kit User Manual B Schematics Haptic Controller PCB Layout m z ii ae 310101010101010 OLED LM 96 128864 nSz ka 5 N gn 5 alo 7 R18 AT Bees N Ri PRECISIO DRU2605 O 00000000 MICRODRIVES m Hi 40 O 9 9 000000 oOo c O er Of 50 O Jep O ej Ma E E ee N jie Ta T k m
19. 10k pcs Low Cost 1 45 1 95 Haptic Feedback Evaluation Kit User Manual E True Haptics Menu Map 28 1 2 3 17 18 19 208 21 22 23 4 5 6 24 25 26 58 59 60 61 62 63 10 11 27 28 29 30 37 38 39 40 31 32 33 41 42 43 34 35 36 44 45 46 86 110 87 111 92 116 93 117 E s4 108 85 109 90 114 91 115 82 106 83 107 88 112 89 113 74 98 75 99 80 104 81 105 72 96 73 97 78 102 79 103 70 94 71 95 76 100 77 101 131447 48495051 1188 52 53 54 55 56 57 G4 65 66 67 68 69 119 120 121 122 123 Haptic Feedback Evaluation Kit User Manual F Effect Table Effect Waveform Strong Click 100 Strong Click 60 Strong Click 30 Sharp Click 100 Sharp Click 60 Sharp Click 30 Soft Bump 100 Soft Bump 60 Soft Bump 30 2 3 Triple Click 100 Soft Fuzz 60 7 0 2 3 4 5 6 7 8 9 0 2 3 6 7 8 9 2 3 7 Buzz 100 Buzz 2 80 Buzz 3 60 Buzz 4 40 Buzz 5 20 j oiv viz CICICICICIG 5 65 6 6 5 65 6 68 6 6 5 5 5 5 5 5 5 5 5 5 8 8 8 58 8 919 elalalalale SISISISISISISISISISISOISOIS O SIS FSIFOISI SIFIZIFAIAIZIBZisidiaia sisia ele SIS 5 151 515 S 8 9 8 5 6 6 6 6 6 31 531 53 3 3 3 3 3 5 3 8 8 8 8 3 3 6
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21. Evaluation Kit is the firmware code that is loaded into the Arduino There are 2 modes of operation provided with the kit Sections 4 amp 9 it is possible to change between these modes as many times as you like This is achieved by following the steps in Section 7 4 The firmware handles several important tasks that tie the separate sections of the system together Building the menu system for user guidance Displaying text and images on the OLED screen Receiving input from the user through capacitive touch buttons e Making logical decisions based on the menu system and user input e Sending motor selection code to multiplexer Interfacing with the DRV2605 or MOSFET to play haptic effects or vibration alerting patterns As the firmware is open source and accessible through the Arduino software environment it is possible to use the Haptic Feedback Evaluation Kit as a development platform for prototyping units Arduino uses its own programming language based on Wiring which is essentially a set of C C functions called from the code Therefore anyone familiar with C C languages or the Processing or Wiring projects should find Arduino development an easy transition Libraries and tutorials are provided at precisionmicrodrives com haptic kit Haptic Feedback Evaluation Kit User Manual 3 Setup and Installation The Haptic Feedback Evaluation Kit is designed to operate out the box allowing users to immediately experience haptic
22. Haptic Feedback Evaluation Kit User Manual PRECISION w MICRODRIVES Contents AS Ue 0 41 2 TAD IS COV 3 oer E te ect er rr ee 5 Code 6 aNd WS CALI ttice oceans E etna canltc elt ances see E acces eet resnneuneabane 7 EE E 7 32 Warning On DC Power CONMCCEON gst scsi scans stdsedecadecedenesspsrtatastetechencdyteonnyctieenus es cusnestcendadsiusedecendintceceanupsbnectiedees 7 3 3 Installing the Arduino Drivers and Software 0 eceeteeceeeeeeteeeeneeeeeeeeeeeeeeeaeeaeeeeaeeeeeesaeeeseeaeeesaesaseeseneeeeeeateees 8 OLE OT ee E 9 Navo E 9 9 4 ee Ae aT DGN aee E E E A ee 9 Tide Haptic TUO A EEO i 10 eZ TLE OM A eaa E 10 A 10 6 Mode OPETI ee 11 SME E ENA O E O A
23. PlayingVib stopVibAlert getMotorName autoCal ratedVoltage overdriveClamp LRA compensation backEMF feedback playFullHaptic library effect ratedVoltage overdriveClamp compensation backEMF feedback Description Parameters Selects the output motor on the grip Required even if using external actuator motorID uint8_t is being used autoCalibrate Checks to see if selected actuator has undergone calibration Runs auto calibration on selected motor selectMotor must be called first Plays vibration alert on selected actuator waveform uint8_t LRA is not supported so motorID 3 pwr uint8_t Implements a continuous loop use onTime uint8_t interrupts or edit function to stop offTime uint8_t Plays haptic effect from DRV2605 on library uint8_t selected actuator If LRA is selected effect 8 motorID 3 then library 6 will be used a Gets current motorID Checks to see if an actuator is playing a haptic effect Checks to see if an actuator is playing a vibration alert Note off times return a true value Must be called in interrupt Stops the vibration alerting being played Must be called in interrupt Returns current motor ID product code Run the DRV2605 s auto calibration values passed in If auto calibration is LRA boolean successful function returns true the compensation back EMF and feedback values have been set backEMF uint8_t feedback uintS_
24. back Evaluation Kit User Manual 5 Engineering Mode Operation To test all the available functions of the kit the Engineering Mode can be loaded onto the kit once downloaded see Section 7 4 for instructions It is aimed at technical users and engineers who are ready to start experimenting with haptic feedback and vibration alerting It is also required to use some of the advanced features such as external actuator connection and further development It is recommended you print load a copy of the True Haptics Menu Map and the Effect Library and Finder sheet see appendices E and F and online to accompany this mode It is especially useful for navigating to specific effects 5 1 Navigation The menu system is based on a hierarchy where you move left and right through the menu options presented as tabs and press select to enter the selected menu option The back button moves you up a menu level and holding it down returns you to the top level In the top menu you can select between experiencing the True Haptic waveforms or building your own Vibration Altering pattern In Engineering Mode the PMD button cycles through the output actuators 5 2 True Haptics Here you can access all of the haptic waveforms and libraries stored on the DRV2605 The effects are grouped into different categories and can be played on each of the actuators The screen shows the current status including the Menu Options
25. de press the upload button 7 5 Editing the Arduino Code and Using the DRV2605 Arduino Library As an added benefit of the Haptic Feedback Evaluation Kit you now own an Arduino You can use it as a standalone development tool for other projects or preferably use it to create a prototype haptic feedback device The Arduino Uno R3 is based on the ATmega328 processor which you can use in your final design To aid prototyping with the DRV2605 these is a library written by Precision Microdrives available for download at precisionmicrodrives com haptic kit codes This includes a series of pre built functions that take advantage of the DRV2605 features See Appendix E for a list of available functions It is recommended you use the series of examples precisionmicrodrives com haptic kit tutorials which show different basic skeleton codes demonstrating how to use the functions For general errors and problems using the Arduino it is best to seek advice from the Arduino community at www arduino cc If you require any help specifically using the DRV2605 Arduino Library please contact us at enquiries precisionmicrodrives com 7 6 Using the DRV2605 Auto Calibrate Feature The DRV2605 has many additional features to improve haptic effects such as overdrive and active braking or auto resonance detection for LRAs Auto calibration is another feature provided by the DRV2605 to improve the haptic performance The auto calibration process monitors t
26. e buttons are Back button Play button PMD button Right button Select button and Left ane button The buttons themselves rely on MPR1I21 touch driver Figure 4 Capacitive Touch Buttons which communicates over the 12C communications bus e Screen An OLED screen provides visual cues to the user about the current status of the controller The menu system is displayed on screen 3 Gp PRECISION TA and navigated using the capacitive touch buttons Depending on MICRODRIVES the mode of operation the screen may display information about the effect being played output actuator or walk through tutorials There are 8 lines of orange LEDs at the top and 24 lines of blue LEDs below It is controlled via SPI Figure 5 OLED Screen Haptic Feedback Evaluation Kit User Manual DRV2605 This is the haptic driver produced by Texas Instruments It contains over 123 different haptic effects with royalty free licensing from Immersion and can drive both ERMs and LAs It has a range of advanced features including overdrive and active braking for haptic effects and auto resonance tracking for LRAs It is controlled by the Arduino via 12C communications bus MOSFET A simple MOSFET is used to drive vibration alerting patterns on the vibration motors It uses a simple PWM signal from the Arduino where varying the duty cycle controls the speed and vibration strength of the ERM The change in duty cycle is handled by the firmware
27. feedback Arduinos are powered using either the USB socket or DC power socket both located at the bottom of the Haptic Controller Do not use the DC power socket see Section 3 2 below 3 1 Powering via USB The Arduino uses a USB type B socket This can be used to provide power to the kit as well as accessing the firmware on the Arduino see Section 3 4 for installation and debug information USB port can be plugged into a port on a computer or to a USB wall charger To provide enough current when using a USB port on a computer the Arduino drivers must be installed The default current allocation to a USB device is 100 mA with the drivers installed the Arduino is able to negotiate up to 500 mA Please note that some PCs use the same USB bus to power several USB ports therefore you should unplug any other USB devices unless you are sure enough current is being supplied to the kit To provide enough current when connecting to a USB wall charger double check the rating of the USB wall charger is no less than 500 mA 3 2 Warning on DC Power Connector ATTENTION DO NOT use the DC power connector The Arduino includes a DC power socket which is designed to offer a choice in power supply However it is not possible to use the DC power socket with the Haptic Shield Using the DC power risks immediately damaging the analogue switch Only use the USB connection to power the Haptic Feedback Evaluation Kit Haptic Feedback Evaluat
28. he back EMF of the actuator and uses the results to adjust the output from the driver so the haptic waveform is tailored for that exact actuator More information on this can be found on the DRV2605 datasheet Each of the modes of operation implements the auto calibrate feature differently Both the Intro Mode and Engineering Mode handle this for you and you can check the values using the debugging feature in the latter In Development Mode you must call the function in the program see the DRV2605 Library in the appendix for more details 19 Haptic Feedback Evaluation Kit User Manual Appendices 20 cere Actuator Table True Haptics Menu Map DRV2605 Arduino Library Summary Haptic Feedback inanis nieas a pea N E a S a BMD EE o NEA AE EEEE A collate E AE RAAE A EEEE 21 23 26 27 28 29 30 Haptic Feedback Evaluation Kit User Manual A Glossary Active Braking Actuator Arduino Auto Calibration DRV2605 ERM Haptic Controller Haptic Feedback Haptic Feedback Evaluation Kit Haptic Grip 21 The haptic technique of reversing the polarity of the voltage applied to an ERM to stop the motor quicker When using an LRA the phase of the drive signal is shifted 180 Refers to the
29. ing your own inputs or use a different processor host to interface with the DRV2605 Used In conjunction with the external actuator connection it is possible to mount an ERM or LRA in a prototype mechanical system 6 6 touchscreen or handheld mould and continue to use the DRV2605 for driving the actuator 7 4 Changing Modes of Operation You can change between the two modes of operation Intro Mode and Engineering Mode as many times as you wish This is done by writing a new program to the Arduino The kit has the Intro Mode loaded by default a new program can be transferred written to the Arduino through the USB connection by the Arduino IDE To change between modes of operation you will need to download additional resources The first is the Arduino software environment It is open source free and available on Windows Mac OS X and Linux See Section 3 4 for installation of the Arduino drivers and software The second is the program files for the different modes of operation We provide all the source code for the IntroMode and Engineering Mode with further coding examples including a library for the DRV2605 at 18 Haptic Feedback Evaluation Kit User Manual precisionmicrodrives com haptic kit Download the Modes of Operation files and extract them to a folder on your hard drive To upload a new code open the desired ino file in the folder you have just extracted it to Once the Arduino IDE opens with the co
30. ion Kit User Manual 3 3 Installing the Arduino Drivers and Software The installation process for the Arduino is simple however it is updated periodically through the Arduino website We recommend following the most recent steps by visiting the Arduino Getting Started page arduino cc en Guide HomePage The link above will allow you to Install the Arduino Uno R3 drivers e Install the Arduino coding IDE recommended but only required if you intend to switch firmware modes Section 6 4 Haptic Feedback Evaluation Kit User Manual 4 Intro Mode Operation There are three firmware modes available all of which are available for download from recisionmicrodrives com haptic kit Codes The Intro Mode is the default mode of operation and is loaded onto the kit prior to shipping It is aimed at non technical users who are unfamiliar with haptic feedback and vibration alerting It consists of 4 different tutorials more information in Section 4 2 e Quick Start Demo for a fast explanation of haptic feedback and vibration alerting e Haptic Feedback Tutorial e Vibration Alerting Tutorial e DRV2605 Overview for a look at the Texas Instruments DRV2605 features It is recommended you print load a copy of the Haptic Feedback vs Vibration Alerting crib sheet see appendix D to accompany the tutorials It is especially useful for sharing exactly what is required for implementing each technology You can switch to the
31. nt boards available the Uno R3 board is based on an Atmel ATmega328 microcontroller Although the term Arduino refers to the project as a whole it is colloquially used to refer to the specific board you are using a convention we will Use in this documentation The Arduino allows you to easily program the microcontroller through your computer using software that you can download online see Section 3 for installation instructions Due to its simplicity and versatility it is extremely popular with hobbyists and professionals who use it for prototyping and other projects As a result there is a very active online community where you can find advice and details about the boards The stackable headers of the Arduino provide access to various pins on the board PCBs can be designed to fit directly onto these headers and are known as shields Arduino shields are often created for a specific purpose such as WIFI connectivity or SD card readers our Haptic Shield works with the provided firmware code for the microcontroller to provide a user interface and drive the vibration actuators This is achieved by including several components the main ones are listed below e Capacitive Touch Buttons There are 6 capacitive touch buttons that are used to provide the input to the Haptic Controller There are slight differences in their function depending on the mode of operation Sections 4 amp 5 From the top left working clockwise th
32. nvey the same information The tutorial serves as a good introduction to haptic feedback and can be used by non technical persons looking to develop their knowledge in the area It is also useful for engineers and product developers to experience different haptic effects and get a quick overview of the capabilities of the DRV2605 and Precision Haptic actuators 4 2 9 Vibration Alerting Tutorial The Vibration Alerting Tutorial gives several examples of vibration alerting waveforms It highlights how a vibration alerting waveform can be used to alert the user to events and often represent warnings When used in conjunction with the Haptic Feedback Tutorial the user should be able to understand the difference in the two technologies and recognise if their design would benefit from advanced haptic feedback or the simpler vibration alerting It is therefore useful for both non technical and technical users 4 2 4 DRV2605 Overview All haptic effects are played by a special haptic feedback driver chip from Texas Instruments the DRV2605 This demonstration covers some of the advanced features of the chip and lets users directly experience how they improve the vibration output It is shorter than the other tutorials and serves as a precursor to downloading the Engineering Firmware For this reason it is of most use to engineers who intend to continue development with the kit and experiment with the DRV2605 itself 10 Haptic Feed
33. play or select button To change the library navigate to the Library Menu Option the last tab in True Haptics and press select Use left and right to select the new library and press back once chosen It is possible to press play when scrolling through the libraries making it easy to compare the difference between each library To change the output actuator cycle through the ERMs and LRA by pressing the PMD button 5 3 Vibration Alerting This section enables you to build different vibration alerting waveforms and play them through any of the ERMs located in the Haptic Grip The waveforms are created by varying the PWM duty cycle on the Arduino through the MOSFET As a result the DRV2605 is not used and the C10 100 LRA is not supported for vibration alerting Vibration alerting output is made from four simple variables which can all be edited The output is then repeated until the user stops it The screen shows the current status including the menu options output motor and the four variables 12 Haptic Feedback Evaluation Kit User Manual Time Between Alerts Figure 14 Vibration Alerting Menu 1 Waveform This is the shape of the voltage input to the ERM There are 4 different waveforms available square Sqr sine Sin Triangle and Sawtooth Saw As the drive voltage is DC and the polarity is not switched the sine waveform is actually a half sine wave U g SQR SIN 0 O gt gt
34. pplied to ERM overdriveClamp x 5 6 V 255 ae pes E operation True LRA Mode False ERM Mode Sets bit 7 of register putting the DRV2605 into LRA or ERM mode gt i f Manually adjusts compensation for resistive losses in compensation O lt ints 255 Auto Calibration Compensation Coefficient 1 compensation 255 J int only specific values valid 30 Osints 255 Auto Calibration Back EMF V backEMF 255 x 4 88 V BEMFGain Manually adjusts results for back EMF of the actuator BEMFGain set by feedback Manually adjusts feedback control register see full DRV2605 datasheet for details Haptic Feedback Evaluation Kit User Manual Pin REQUIREMENTS OLED 3V3 5V GND 5 8 10 11 13 CAPACITIVE ToucH 3V3 5V GND A4 A5 2 Haptic Grip 5V GND AO Al 6 7 MOSFET 7 9 3V3 5V GND A4 A5 4 6 7 9 SPI CLK OLED 8 SPI DAT OLED 9 SPI RES OLED 4 PWM IN Tric MOSFET SPI DC OLED 5 ANALOGUE SWITCH IN1 2 0 ANALOGUE SWITCH IN1 2 0 SPI CS OLED 3 outnpuy l Garie Connect 3 S1 WMd IWLIII Garir Connect 6 S2 4 DRV2605 EN gt 3 Z 2 TOUCH Driver IRO 2 SDA I2C SCL 8 Made with J Fritzing org Using bit Addressing 0x5D 31
35. representative of many end applications Helps separate the haptic effect being played from the capacitive buttons on the Haptic Controller by the LRA 9 Allows a user to easily share their haptic experience with a colleague by using the Haptic Controller and handing the Haptic Grip to someone else The Haptic Grip contains a small PCB and has two leaded ERMs mounted directly into the base all of which can be accessed by peeling back the black rubber section from the red metal section There is a single quad channel multiplexer demultiplexer IC that handles the actuator selection signals from the Haptic Controller reducing the need for excessive cabling To aid debugging there Figure 10 Haptic Grip Peeled Back is an LED for each actuator which is lit when that actuator is selected by the Haptic Controller in addition to topside connection pads for each motor There are 3 eccentric rotating mass vibration motors and 1 linear resonant actuator Typical Rated Resonant Model Number Type Normalised Vibration Rated Voltage Image Full Datasheet Amplitude Frequency 305 000 125 Hz rated 306 109 200 Hz rated Download 306 109 Datasheet of Download 308 102 Datasheet 175 Hz resonant 2 V RMS Download C10 100 Datasheet Figure 11 Haptic Grip Actuator Table Download 305 000 Datasheet Haptic Feedback Evaluation Kit User Manual 2 3 Firmware Arduino Code An important part of the Haptic Feedback
36. roller and instrumentation OUT and OUT Connects to DRV pins As OUT and C3 OUT These can be used to either measure the signal being sent to the selected output actuator drive an external actuator or both See the instructions below 7 2 External Signals Actuators To read the signal sent to an actuator it is best to use an oscilloscope The following is taken from the DRV2605 datasheet as is recommended for reading drive signals 17 Haptic Feedback Evaluation Kit User Manual OUT OUT 470 I p Figure 18 External Actuator Oscilloscope Connection To connect an external actuator unplug the grey ribbon cable from the haptic controller either at the haptic grip end or the haptic controller end Then attach your new connector to the appropriate OUT and OUT test points it is recommended to use spring connectors 7 3 Direct Access to DRV2605 There are two ways to directly access the DRV2605 The easiest method is to use the Arduino as it is already connected Simply edit the Arduino sketch or create your own to interface with the DRV2605 as you wish To help Section 6 5 discusses how to edit the Arduino code and access the Arduino library for the DRV2605 from Precision Microdrives Alternatively the Haptic Shield can be removed from the Haptic Controller and plugged into a breadboard or connected to via the pins on the underside This method allows you to access the pins on the Arduino for connect
37. t library uint8_t Plays haptic effect from DRV2605 on effect uintS_t selected actuator Pass in compensation ratedVoltage uint8_t ratedVoltage uint8_t routine on the selected actuator with the overdriveClamp uint8_t compensation uintS_t Returns Boolean Value True calibrated False not calibrated Boolean Value True playing False not playing Boolean Value True playing False not playing Void Char string Boolean value True successful False unsuccessful back EMF and feedback values returned overdriveClamp uint8_t Void from auto calibration or manually adjusted values backEMF uint8_t feedback uint8_t compensation uint8_t Returns amount of unused RAM space Description 305 000 306 109 308 102 C 10 100 Square Sine 1 lt ints6 6 LRA in l sints 123 See Effect ID table in Selects the output actuator Select 3 if using external LRA Changes the output waveform for vibration alerts O lt ints 255 Tenths of Seconds The amount of time the vibration alert vibrates over Osints 255 Tenths of Seconds The amount of time between vibration alerts The haptic effect on the DRV2605 to be used The haptic library on the DRV2605 to be used See full DRV2605 datasheet for detailed explanation lt J tedVoltage O lt ints 255 Voltage applied to ERM ratedVoltage x 5 44 V 255 and calculation of LRA voltage Peak vol f DRV i Osints 255 Voltage a
38. ump followed by a single hexadecimal byte in the serial monitor 2 Reset Auto Calibration Wipes the motor calibration values stored in the EEPROM This means none of the motors are seen as calibrated and the kit will re run the auto calibration when each motor is selected This is confirmed by printing the status byte AutoCal success and the new auto cal values on the serial monitor 3 Firmware Information Prints the current version of the firmware on the serial monitor This can be edited in the debug_ defs h file if creating your own revisions of the program 15 Haptic Feedback Evaluation Kit User Manual 6 Development Mode Operation The Development Mode is a bare bones sketch that allows you to build your own working prototype using the Haptic Feedback Evaluation Kit It handles setting up the DRV2605 and Arduino such as configuring the pins and initialising the 12C bus but the main section of code can be edited to behave as you require There are also multiple functions built in to the DRV2605 library to handle common functions such as playing a haptic effect The Haptic Shield can be installed into the Arduino or can be connected to separately to provide access to the available Arduino pins There are several example applications that demonstrate using the Development Mode online at precisionmicrodrives com haptic kit tutorials The DRV2605 Library and Pin Mapping documents see appendix G are also good
39. valuate the performance of different actuators with the DRV2605 By editing the Arduino code it can be used as a development platform for haptic devices The section of the Haptic Feedback Evaluation Kit that houses 4 Precision Haptic actuators and acts as the output It is a handheld grip that vibrates when the Haptic Controller sends a drive signal used both for haptic feedback and vibration alerting 12C IDE LRA Overdrive MOSFET PVY M Vibration Alerting 22 Haptic Feedback Evaluation Kit User Manual l Squared C or I two C a serial digital communication bus used to communicate between the Arduino and the DRV2605 Implemented by the Arduino using the Wire library details on this can be found at Arduino cc en reference wire Integrated Development Environment a software application that enables users to create a program The Arduino IDE allows the programmer to control the Arduino with the source code editor See Sections 2 3 and 6 5 for more information on using the Arduino IDE Linear Resonant Actuator a type of vibration actuator that oscillates a magnetic mass on a spring to create displacement http Awww precisionmicrodrives com vibrating vibrator vibration motors linear resonant actuator lra haptic vibration motors The haptic technique of applying the actuators maximum voltage above the rated voltage to generate more electromagnetic force causing the actuator
40. wered through the computer s USB port rather than a standalone USB power socket To enter the debug mode you will need to navigate to the 66 Haptic_Shield Arduino 1 0 5 1 File Edit Sketch Tools Help top level menu by holding down the back button this snould 11 Auto Format Archive Sketch Haptic_Shield Fix Encoding amp Reload be confirmed with a long vibrate on the Haptic Controller Serial Monitor Ctri Shift M define PROG Board gt Once at the top level hold down the PMD button to enter the sinciuae lt ave Debug Mode pinclude 1138 include debug h You will also need to open the Serial Monitor in the Arduino include types h software This is found in the Tools menu or YOU can USE TNE inciude sets include Metro h include menu h keyboard shortcut Ctrl Shift M Opening the Serial Figure 17 Arduino Serial Monitor Monitor should restart the program so by default you will 3 find yourself at the top level and ready to enter the debug mode The screen on the Haptic Controller will present you with three options each of which will print different information on the serial monitor window 14 Haptic Feedback Evaluation Kit User Manual 1 Dump Settings Prints the values stored in the DRV2605 EEPROM These values are the motor calibrations and a bitmask for which motors are calibrated It appears as a Mem D
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