Single scene 2D Unity interface for control of Fourier EMU device with CORC.
It is intended for simple touchscreen use and to allow recording of activities and movements in dedicated log files (see SceneManager.cs and SessionsData.cs scripts for loging).
A module is used to synchronously record arm movements using NDI trakSTAR sensors (see trakSTAR.cs and MvtLogging.cs) as well as Intel RealSense depth camera.
The interface interacts with CORC using FLNL (implemented in CORCM3_FOURIER.cs script).
Communication commands from the UI side to the CORC state machine:
| Command | Parameters | Response(s) | Action |
|---|---|---|---|
| GOCA | / | OKCA | Go from Nothing state to Calibration state. |
| GOLO | / | OKLO | Go to Lock state (from any other but Nothing or Reset states). |
| GOUN | / | OKUN | Unlock (go to Deweighting from Lock state) |
| GORE | / | OKRE | Go to Reset state: reset torque control and apply 0 torque. |
| GOJE | [nbpts,x0,y0,z0,T0,T0pause, ..., xn,yn,zn,Tn,Tnpause] | OKJE/ERJE* | Go to Min Jerk (passive mob.) with n points (wait Tpause s at pt). |
| GOPA | [nbpts,x0,y0,z0,T0,T0pause, ..., xn,yn,zn,Tn,Tnpause] | OKPA/ERPA* | Go to Path state (guidance) with n points (T param not used) |
| GOGR | [mass] | OKGR/ERGR* | Go to Deweighting state with specified mass compensation |
| UDPA | [assistance] | OKUP/ERUD* | Update Path (guidance) assistance viscosity. In path state only. |
| UDMA | [mass] | OKUM/ERUD* | Update mass compensation. In Deweigthing state only. |
| QUIT | / | OKQU | Quit the CORC app properly. |
*Commands return ER__ only if wrong/inconsistent number of parameters are provided but OK__ if command is applied but parameter value is out of bound (and so saturated or not applied). TL;DR: ER represents only communication errors, nothing else.
See EMUFourierMachine constructor for allowed transitions.