Haptic HID

This repository contains code for compiling a small c++ application to run as an interface layer between Force Dimension's sigma.7 robot and the web standard WebHID interface. By running this application on a device connected by USB with sigma.7, you can receive 3-axis position and force information from the robot in a standard web browser interface using javascript.

Requirements

• Windows
• MSYS2 with gcc, ninja (or make), and cmake
• Force Dimension SDK (e.g., version 3.17.1)
• ViGEmBus and ViGEmClient libraries

Installation Steps

1. Install MSYS2 and Required Packages

1. Download and install MSYS2 from the official website: MSYS2.

2. Open MSYS2 MinGW 64-bit terminal.

3. Run the following commands to install the necessary tools and libraries:

   pacman -Syu           # Update the package database and core system
   pacman -S mingw-w64-x86_64-toolchain mingw-w64-x86_64-cmake git

   This installs GCC, CMake, and other necessary development tools.

2. Install ViGEmBus and ViGEmClient

1. Download and install the ViGEmBus driver from: ViGEmBus Releases.

2. Download the ViGEmClient SDK from: ViGEmClient Releases.

3. After extracting the ViGEmClient SDK, copy the include and lib directories to a path such as C:/MyRepos/CPP/ViGEmClient/.

3. Install Force Dimension SDK

1. Download and install the Force Dimension SDK (e.g., version 3.17.1) from: Force Dimension.
2. After installation, locate the SDK's include and lib directories, typically located in C:/Program Files/Force Dimension/sdk-3.17.1/.

Compilation

1. Set Up the Project

Clone this repository and navigate to the project directory:

git clone https://github.com/Neuro-Mechatronics-Interfaces/HapticHID.git HapticHID && cd HapticHID

2. Configure and Build

1. Ensure that the paths in CMakeLists.txt are correctly set for your environment, especially for the ViGEmClient and Force Dimension SDK directories.

2. Create a build directory and run cmake to configure the project. Use make or ninja depending on your cmake configuration:

mkdir build && cd build && cmake .. && make

mkdir build && cd build && cmake .. && ninja

3. Copy the ViGEmClient.dll and drd64.dll link libraries from lib into build:

cp ../lib/drd64.dll drd64.dll && cp ../lib/ViGEmClient.dll ViGEmClient.dll

This will generate the DummyHapticHID.exe and HapticHID.exe executables in the build directory.

3. Copy/Paste DLLs

Both executables require ViGEmClient.dll and drd64.dll at runtime. Copy these .dll files into the build directory where the executables are located:

• ViGEmClient.dll from the ViGEmClient SDK.
• drd64.dll from the Force Dimension SDK.

Usage

Run from a bash terminal (e.g. git bash or msys2; not Powershell or Windows Terminal). The terminal should navigate to the build folder in your local repository and call the executable from there.

Running DummyHapticHID

To run DummyHapticHID, which simulates a virtual XBOX 360 controller (and is therefore useful for testing WebHID when no sigma.7 is available) execute the following command from a terminal:

./DummyHapticHID.exe

Running HapticHID

To run HapticHID, ensure that your Force Dimension haptic device is connected, and execute the following command:

./HapticHID.exe

This program connects to the haptic device, retrieves force and position data, and maps that data to a virtual Xbox 360 controller.

Keyboard Shortcuts for Both Programs

• Ctrl + C: Stops the program and exits.

Testing

There is a generic HID test interface available at https://reaction-task.nml.wtf/debug/hid.