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Table of Contents
Using HTC Vive to Control Dynamixel Servo
Author: Keitaro Nishimura Email: nishik1@unlv.nevada.edu
Date: Last modified on 05/02/17
Keywords: OpenVR SDK, HTC Vive, Dynamixel, tutorial
The photo above depicts using the Vive position tracking to move a Dynamixel servo around. This tutorial shows you how to setup a Visual Studio Project to use the OpenVR SDK, how to get the position data of the Vive controllers, and how to use that position data to move around a Dynamixel servo.
Motivation and Audience
This tutorial's motivation is to teach the reader how to use the position tracking of the HTC Vive controllers to move a Dynamixel servo. This tutorial is not meant to be a comprehensive tutorial on openVR and Dynamixel SDK. Rather a starting point for the reader to then follow further to learn more about the respective APIs.
Readers of this tutorial are assumed to have the following background and interests:
* Know how to follow directions
* Have experience with/or interest in c++
* Be interested in some form of HMI
* Have completed the previous 2 tutorials
The rest of this tutorial will follow as presented:
- Parts Lists and Source
- Setting up Visual Studio Environment for OpenVR
- Getting the position Data of the Vive Controller
- Integrating the Dynamixel SDK to move the servo
- Final Words
Parts Lists and Sources
To complete this tutorial, you'll need the following items listed bellow.
| Part Name/Description | Vendor | Vendor URL | Qty | Notes |
|---|---|---|---|---|
| HTC Vive Kit | Vive or Fry's | https://www.vive.com/us/product/ or http://www.frys.com/product/8987273 | 1 | The kit will come with all the necessary hardware. 1 Vive HMD (head mounted display), 2 lighthouse base stations, 2 controllers, and the cables and power sources needed. |
| A computer with at least a GTX 1060 or equivalent | Amazon | https://www.amazon.com/ | 1 | Please reference the recommended computer specs for any computer the reader plans to use. The lab however already has a computer specifically for research with the vive. |
| Tripod mounts for lighthouse base stations | Amazon or build in-house | https://www.amazon.com/s/ref=nb_sb_noss_2?url=search-alias%3Daps&field-keywords=tripod+for+camera | 2 | Since the base stations have a standard camera mounting hole on the bottom any standard camera tripod should work. You can also use scrap pieces of 2×4 wood to create your own mount for them. |
| Dynamixel Servo (RX-28) | Robotis | http://www.robotis.us/dynamixel-rx-28-hn07-n101/ | 1 | You do not need to use this specific servo, lease please not that some parts of this tutorial may be different depending |
| USB to Dynamixel | Robotis | http://www.robotis.us/usb2dynamixel_int/ | 1 | This is needed to communicate between the dynamixel and computer |
| SMPS2Dynamixel | Robotis | http://www.robotis.us/smps2dynamixel/ | 1 | This is needed to power the dynamixel |
| 12V~5A power adapter | Robotis | http://www.robotis.us/smps-12v-5a-ps-10-us-110v/ | 1 | This should be together with the SMPS2Dynamixel |
| Robot Cable-X4P | Robotis | http://www.robotis.us/cables/ | 2 | The actual length does not matter, but the pin type (4pin) does |
| Male to Female USB Extension Cable | Amazon | https://www.amazon.com/AmazonBasics-Extension-Cable-Male-Female/dp/B00NH11R3I/ref=sr_1_2?ie=UTF8&qid=1494974321&sr=8-2&keywords=usb+extender+male+to+female | 1 | This is not necessary for this tutorial but will make your life a lot easier in the last section (we should have a box full of these in the cabinets) |
All of the items mentioned above should already be available to your in the lab. Please check with the lab manager or your lab mates for the whereabouts of the various parts.
Setting up Visual Studio Environment for OpenVR
In this section, we will go over how to setup the visual studio environment to be able to develop with the OpenVR SDK. Although it is possible to do with QT as well this tutorial will focus exclusively on Visual Studio. If you need to use QT please refer to the other sample code within the OpenVR folder that is written with QT.