Powerwall

Tracking

Intersense tracking is available for the Powerwall. A head and wand tracker are currently connected to the Intersense box. The vrpn server runs on the machine "isense-wall". Instructions for running the vrpn server are as follows:

Logon to isense-wall as cavedemo

isense-wall> cd ~prabhat/vrpn6.03/vrpn/server_src

isense-wall> pc_linux/vrpn_server -f vrpn.cfg

You should see a log similar to the following :

Reading from config file vrpn.cfg

Openingvrpn_Tracker_NULL: Tracker0 with 2 sensors, rate 2.000000

Error reading or Tracker0 not found in config file

vrpn_Tracker: Found config file vrpn_Tracker.cfg, but cannot read info for Tracker0

... additional reset commands follow:

ML1

Openingvrpn_Tracker_Fastrak: Isense900@isense-wall on port /dev/ttyS0, baud 38400

Error reading or Isense900@isense-wall not found in config file

vrpn_Tracker: Found config file vrpn_Tracker.cfg, but cannot read info for Isense900@isense-wall

...added Wand (Wand0@isense-wall) to sensor 0

VRPN Warning (0) from Isense900: Resetting the tracker (attempt 1)

.

Got 53 of 55 characters for status (54 expected for IS900)

VRPN Warning (0) from Isense900: Fastrak/Isense gives status (this is good)

Fastrak writing extended reset commands...

...sending command: ML1

Fastrak set to continuous mode

VRPN Warning (0) from Isense900: Reset Completed (this is good)

If you do not see the last line, there is probably something wrong with the Intersense box, or the physical cabling. Ask the CCV staff to help you out.

If all goes well, tracking data should now be accessible to any vrpn client.

Test vrpn client program

You can use the following program to test if a vrpn client is able to access data :

dev2l> cd ~prabhat/vrpn6.03/vrpn/client_src/pc_linux

dev2> ./printcereal Wand0@isense-wall

You should see a log similar to the following :

Button's name is Wand0@isense-wall.

Analog's name is Wand0@isense-wall.

Dial's name is Wand0@isense-wall.

Button update: B<number> is <newstate>

Analog update: Analogs: [new values listed]

Dial update: Dial# spun by [amount] from config file vrpn.cfg

"..Button and joystick data will show up once you generate them"..

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